Title

Neural Network Model Reference Adaptive Control Of Marine Vehicles

Abstract

A neural network model reference adaptive controller for trajectory tracking of nonlinear systems is developed. The proposed control algorithm uses a single layer neural network that bypasses the need for information about the system’s dynamic structure and characteristics and provides portability. Numerical simulations are performed using nonlinear dynamic models of marine vehicles. Results are presented for two separate vehicle models, an autonomous surface vehicle and an autonomous underwater vehicle, to demonstrate the controller performance in terms of tuning, robustness, and tracking.

Publication Date

1-1-2006

Publication Title

Systems and Control: Foundations and Applications

Issue

9780817643836

Number of Pages

421-440

Document Type

Article; Book Chapter

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/0-8176-4470-9_23

Socpus ID

84867941736 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84867941736

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