Abstract
The time delay makes it difficult to achieve expected dynamic positioning (DP) performance of unmanned underwater vehicles (UUVs), which may even affect the stability of the system. This work is focused on the compensation for the thruster time delay in the visual positioning system of UUV. A control scheme using time delay feedback is proposed to enhance adaptation to the thruster time delay from the image-based visual servo (IBVS) system. A neural network (NN) is developed to compensate dynamic uncertainties. Simulation studies show the effectiveness of this approach in comparison with the strategy without compensation for time delay.
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