Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles

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ESKİ I., YILDIRIM Ş.

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, vol.11, 2014 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 11
  • Publication Date: 2014
  • Doi Number: 10.5772/56740
  • Journal Name: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Keywords: Neural Network Control, Robust Control, Autonomous Underwater Vehicles, Trajectory Control
  • Erciyes University Affiliated: Yes

Abstract

A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow.