| 人工神经网络控制器在水下无人运载器导航中的应用 |
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| 引用本文： | 缪泉明,顾懋祥,李定.人工神经网络控制器在水下无人运载器导航中的应用[J].中国造船,1996(3). |
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| 作者姓名： | 缪泉明 顾懋祥 李定 |
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| 作者单位： | 中国船舶科学研究中心 |
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| 基金项目： | 国家863高技术研究项目经费资助!神经网络AUV自动导航技术项目 |
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| 摘 要： | 本文以水下无人运载器（AUV）绕平面圆周航行的速度、位置控制为例，推广到任何轨迹的控制问题。利用神经网络学习AUV运行的内在规律，预测未来一步的运行情况，并用改良的PID方式前馈与后馈相结合控制其执行机构。系统学习、预测及PID各增益量利用GESA（GuidedEvolutionarySimulatedAnnealing）全局优化方法求得。本方法具有自适应性、强非线性及前馈控制等特点，优于其它一般的控制器。
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| 关 键 词： | 导航 神经网络 航向控制 |
DEVELOPMENT OF MOTION CONTROL SYSTEM FOR AUV USING COMBINATION OF NEURAL NETWORK AND PID CONTROLLER |
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| MIAO Quanming, GU Maoxiang, LI Ding.DEVELOPMENT OF MOTION CONTROL SYSTEM FOR AUV USING COMBINATION OF NEURAL NETWORK AND PID CONTROLLER[J].Shipbuilding of China,1996(3). |
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| Authors: | MIAO Quanming GU Maoxiang LI Ding |
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| Institution: | China Ship Scientific Research Center |
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| Abstract: | A combination of neural network and PID controller is developed for motion control system of AUV. In this paper, a plane circle motion control of AUV is studied. Neural network is used to learn the behavior of AUV's motion and to predict the next move of the controller. A modified PID scheme with feed forward and feedback control is developed for AUV motion control system. GESA (Guided Evolutionary Simulated Annealing) algorithm is used to determine the coefficients of PID controller. Computer simulations show that the method is successful. |
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| Keywords: | Navigation Neural network Heading control |
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