Neural networks modelling and generalised predictive control for an autonomous underwater vehicle

被引：3
|
作者：
Xu, Jianan [1 ]
Zhang, Mingjun [1 ]
Wang, Yujia [1 ]
机构：
[1] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin 150001, Heilongjiang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2010年 / 11卷 / 1-2期
关键词：
autonomous underwater vehicle; AUV; generalised predictive control; GPC; modified Elman neural networks; MENNs;
D O I：
10.1504/IJMIC.2010.035282
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the application of neural networks-based generalised predictive motion control for an autonomous underwater vehicle (AUV). The modified Elman neural networks (MENNs) are used as the multi-step predictive model, and the fused identification model is proposed to improve the predictive and control precision. The MENNs online learning improves the control system adaptability to the unpredictable operating environment for AUV. Simulations on AUV yaw velocity control are concluded to illustrate the effectiveness of the proposed control scheme.
引用
收藏
页码：79 / 86
页数：8
相关论文
共 50 条
  • [41] Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle
    Yang, Chao
    Yao, Feng
    Zhang, Ming-Jun
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2018, 31 (01)
  • [42] Adaptive critic control of autonomous underwater vehicles using neural networks
    Lin, Chuan-Kai
    ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2, 2006, : 122 - +
  • [43] DEPTH CONTROL OF AN UNDERWATER REMOTELY OPERATED VEHICLE USING NEURAL NETWORK PREDICTIVE CONTROL
    Aras, Mohd Shahrieel Mohd
    Abdullah, Shahrum Shah
    Rahman, Ahmad Fadzli Nizam Abdul
    Hasim, Norhaslinda
    Azis, Fadilah Abdul
    Teck, Lim Wee
    Nor, Arfah Syahida Mohd
    JURNAL TEKNOLOGI, 2015, 74 (09): : 85 - 93
  • [44] Motion Planning for an Autonomous Underwater Vehicle via Sampling Based Model Predictive Control
    Caldwell, Charmane V.
    Dunlap, Damion D.
    Collins, Emmanuel G., Jr.
    OCEANS 2010, 2010,
  • [45] Trajectory Tracking for Autonomous Underwater Vehicle Based on Model-Free Predictive Control
    Xu, Weiwei
    Xiao, Yuchen
    Li, Hongran
    Zhang, Jian
    Zhang, Heng
    2019 IEEE 20TH INTERNATIONAL CONFERENCE ON HIGH PERFORMANCE SWITCHING AND ROUTING (IEEE HPSR), 2019,
  • [46] The Predictive Functional Control and the Management of Constraints in GUANNY II Autonomous Underwater Vehicle Actuators
    Pineda Munoz, Wilman Alonso
    Gauthier Sellier, Alain
    Gomariz Castro, Apartacus
    IEEE ACCESS, 2018, 6 : 22353 - 22367
  • [47] Autonomous Underwater Vehicle Motion Planning via Sampling Based Model Predictive Control
    Wang, Lin-Lin
    Wang, Hong-Jian
    Pan, Li-Xin
    APPLIED MECHANICS, MATERIALS AND MANUFACTURING IV, 2014, 670-671 : 1370 - 1377
  • [48] ROBUST MODEL PREDICTIVE CONTROL FOR AUTONOMOUS UNDERWATER VEHICLE - MANIPULATOR SYSTEM WITH FUZZY COMPENSATOR
    Esfahani, Hossein Nejatbakhsh
    POLISH MARITIME RESEARCH, 2019, 26 (02) : 104 - 114
  • [49] Modelling and Simulation of the Autonomous Underwater Vehicle (AUV) Robot
    Muhaiyuddin, Muhammad D.
    Hassan, Zulhasnor
    Jia, Chen
    Zhou, Huimei
    Pan, Rong
    Anvar, Amir M.
    21ST INTERNATIONAL CONGRESS ON MODELLING AND SIMULATION (MODSIM2015), 2015, : 739 - 745
  • [50] Model Predictive Control of an Autonomous Underwater Vehicle in an in situ Estimated Water Current Profile
    Medagoda, Lashika
    Williams, Stefan B.
    OCEANS, 2012 - YEOSU, 2012,
12345