arXiv:2205.13344
A neural network based controller for underwater robotic vehicles
A neural network based controller for underwater robotic vehicles
著者: Josiane Maria Macedo Fernandes, Marcelo Costa Tanaka, Raimundo Carlos Silvério Freire Júnior, Wallace Moreira Bessa
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated underwater vehicles based. The adopted approach is developed using Lyapunov Stability Theory and enhanced by a neural network based algorithm for uncertainty and disturbance compensation. The performance of the proposed control scheme is evaluated by means of numerical simulations.