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| 自适应神经网络控制器用于自治式水下机器人导航 | |
| 引用本文： | 刘传才 李定. 自适应神经网络控制器用于自治式水下机器人导航[J]. 中国造船, 1997, 0(4): 95-100 |
| 作者姓名： | 刘传才 李定 |
| 作者单位： | 中国船舶科学研究中心 |
| 摘 要： | 用二维的运动学模型模拟研究自治式水下机器人的导航控制系统；控制系统由函数链网络的前馈控制器和函数链网络的ＰＩＤ控制器组成。模拟结果表明，此控制系统具有良好的鲁棒性，有较强的适应环境变化的能力和抗干扰能力。 |
| 关 键 词： | 水下机器人 导航 神经网络 控制器 |
STUDY ON CONTROL OF AUTONOMOUS UNDERWATER VEHICLE |
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| LIU Chuancai, LI Ding, GU Maoxiang, MIAO Quanming. STUDY ON CONTROL OF AUTONOMOUS UNDERWATER VEHICLE[J]. Shipbuilding of China, 1997, 0(4): 95-100 | |
| Authors: | LIU Chuancai LI Ding GU Maoxiang MIAO Quanming |
| Affiliation: | China Ship Scientific Research Center |
| Abstract: | 2 dimensional kinematic model is used to investigate a motion control systeml consists of feed forward controller and PID controller which are constructed with Functional-Link net (FLN). Simulation study shows that the control system is robust, and it has better adaptability and antidlsturbance- |
| Keywords: | Underwater vehicle Navigation Neural network |
| 本文献已被 CNKI 维普 等数据库收录！ | |