Abstract
Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.
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Foundation item: Supported by the National High Technology and Development Program Foundation of China under Grant No. 2002AA420090.
LIANG Xiao was born in 1980. He received M.Sc in Fluid Mechanics in 2006. Now he works for the Ph.D degree in Design and Construction of Naval Architecture and Ocean Structure, and his current research interests include intelligent control and simulation of underwater vehicles.
LI Ye was born in 1978. He is a Doctor of Design and Construction of Naval Architecture and Ocean Structure in Harbin Engineering University. His current research interests include intelligent control and path programming of underwater vehicles.
XU Yu-ru was born in 1942. He is the subject leader of Naval Architecture and Ocean Engineering, the national key discipline of Harbin Engineering University. For more than 30 years, he managed and fulfilled many creative Engineering research projects, especially for the fast development technology of autonomous underwater vehicle of our country. He has made important contributions to the system simulation, intelligent control architecture, system integration and so on in this field. He was elected as the member of Chinese Academy of Engineering in 2003.
WAN Lei was born in 1964. He is a professor in school of Shipbuilding Engineering, Harbin Engineering University. His main research fields: motion control and navigation of underwater vehicles etc.
QIN Zai-bai was born in 1953. He is a senior engineer in school of Shipbuilding Engineering, Harbin Engineering University. His current research interests include design of experimental facilities of underwater vehicles.
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Liang, X., Li, Y., Xu, Yr. et al. Fuzzy neural network control of underwater vehicles based on desired state programming. J Mar. Sc. Appl. 5, 1–4 (2006). https://doi.org/10.1007/s11804-006-0088-6
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DOI: https://doi.org/10.1007/s11804-006-0088-6