A neural network based controller for underwater robotic vehicles

2022/05/23 by Fernandes, Josiane Maria Macedo, Tanaka, Marcelo Costa, Júnior, Raimundo Carlos Silvério Freire +1
#FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2205.13344

Abstract

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.

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