| 自适应神经网络控制器用于自治式水下机器人导航 |
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| 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(4):95-100. |
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| 作者姓名： | 刘传才 李定 |
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| 作者单位： | 中国船舶科学研究中心 |
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| 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。
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| 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(4):95-100. |
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| Authors: | LIU Chuancai LI Ding GU Maoxiang MIAO Quanming |
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| Institution: | China Ship Scientific Research Center |
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| 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- |
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| Keywords: | Underwater vehicle Navigation Neural network |
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