TY - GEN
T1 - Identification and control of underwater vehicles with the aid of neural networks
AU - Van De Ven, Pepijn
AU - Flanagan, Colin
AU - Toal, Daniel
AU - Omerdic, Edin
PY - 2004
Y1 - 2004
N2 - In this paper the use of neural networks for the identification of underwater vehicle dynamics is studied. A flexible way of identifying dynamics is desirable for several reasons. The dynamics of underwater craft are highly non-linear and cross coupling between various degrees of freedom normally exists. To date at best empirical models are available to describe these phenomena. On top of this the underwater environment can change drastically as a result of e.g. weather conditions. Due to their ability to adapt for changing circumstances in an online fashion, neural networks offer an interesting alternative for more conventional means of identification. This paper details an identification process using neural networks. To illustrate the performance of this identification process, these neural networks are then used directly or indirectly in a feedforward loop to control the craft in a simulation study.
AB - In this paper the use of neural networks for the identification of underwater vehicle dynamics is studied. A flexible way of identifying dynamics is desirable for several reasons. The dynamics of underwater craft are highly non-linear and cross coupling between various degrees of freedom normally exists. To date at best empirical models are available to describe these phenomena. On top of this the underwater environment can change drastically as a result of e.g. weather conditions. Due to their ability to adapt for changing circumstances in an online fashion, neural networks offer an interesting alternative for more conventional means of identification. This paper details an identification process using neural networks. To illustrate the performance of this identification process, these neural networks are then used directly or indirectly in a feedforward loop to control the craft in a simulation study.
UR - http://www.scopus.com/inward/record.url?scp=11244308308&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:11244308308
SN - 0780386469
SN - 9780780386464
T3 - 2004 IEEE Conference on Robotics, Automation and Mechatronics
SP - 428
EP - 433
BT - 2004 IEEE Conference on Robotics, Automation and Mechatronics
T2 - 2004 IEEE Conference on Robotics, Automation and Mechatronics
Y2 - 1 December 2004 through 3 December 2004
ER -