Abstract
An approach in the form of an automatic evolutionary design environment for obtaining any type of control systems for underwater vehicles is presented. A specific case is considered in which this strategy is hybridized with Artificial Neural Networks. The design procedure is carried out by means of evolutionary techniques from a set of specifications using as a fitness evaluator an ad-hoc hydrodynamic simulator which includes the estimation of added mass and added inertia coefficients. The resulting design environment was used to construct the neural network based controllers of a submersible catamaran. Results of the application of the automatic design procedure and of the operation of the controllers thus obtained are presented.
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Lamas, A., Peña, F.L., Duro, R.J. (2009). A Hybrid Approach for Designing the Control System for Underwater Vehicles. In: Corchado, E., Wu, X., Oja, E., Herrero, Á., Baruque, B. (eds) Hybrid Artificial Intelligence Systems. HAIS 2009. Lecture Notes in Computer Science(), vol 5572. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02319-4_11
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DOI: https://doi.org/10.1007/978-3-642-02319-4_11
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