Sliding Mode Control of ROV Based on RBF Neural Networks Adaptive Learning

摘要：

This paper deals with a variable structure slidingmode control of ROV(remotely operated vehicle),with which the adaptive learning of the RBF neuralnetwork is used to estimate and approach the upperbound of the uncertainty and disturbance induced byhydrodynamics so as to avoid the difficulties ofestablishment and resolving of precision dynamicmodel.According the description and setting up of thecontrol model,a tracking simulation was carried outand a series of tests on the yaw of ROV wereperformed in static pool.It is proved that this controlstrategy is available for the ROV.

作者: Heping LIU Zhenbang GONG Min LI

作者单位: Department of Precision Machinery,School of Mechatronics Engineering and Automation,Shanghai Univers Electronic & Information Engineering College,Henan University of Science and Technology,Luoyang,4710

会议类型: 国际会议

会议名称: 2008 3rd International Conference on Intelligent System and Knowledge Engineering(第三届智能系统与知识工程国际会议)(ISKE 2008)

会议地点: 厦门

会议语种:英文

页码: 590-594

在线出版日期: 2008-11-17（万方平台首次上网日期，不代表论文的发表时间）