Abstract
In the previous papers, we proposed a structure of feed forward neural network and its learning process in order to simulate the dynamic behavior of underwater robots. The proposed network can estimate the time series of state variables when the initial variables and a series of manipulate signals are given. By introducing the proposed network into a neural network based control system proposed by Fujii et al., a quick on-line controller adaptation method can be realized. The method is examined through tank test and shows good performance. And an on-line adaptable controller system can be realized by the network with simulating capability and the on-line adaptation method. In this paper, adaptability of the controller system is investigated by heading keeping and path following experiments when the unknown disturbances are given to the robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Journal of the Society of Naval Architects of Japan
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
