engleski

Neural net underwater vehicle dynamic positioning control

A neuro-controller for high precision manoeuvring of underwater vehicles require special attention to a number of factors including thruster and vehicle's nonlinearities, couplings which exist between various degrees of freedom as well as effects of the sea currents. The neuro control system for underwater vehicle manoeuvring described here is based on the conventional controller supported with the so called adaptive neural network.

Precise manoeuvring; adaptive neural network; underwater vehicle; track-keeping

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