An adaptive neural-net controller system for an underwater vehicle

摘要

This paper describes the concept and an example of an adaptive neural-net controller system for an underwater vehicle. The system consists of two parts, a real-world part and an imaginary-world part. The real-world part is a feedback control system for the actual robot. In the imaginary-world apart, the model of robot and the controller are adjusted continuously in order to deal with changes of dynamic properties caused by disturbances and so on. The system is designed to be suitable for a computer system with parallel processing ability. In this paper, the adaptability of the controller system is investigated by heading-keeping and path-following experiments in conditions where unpredictable disturbances are applied to the robot.