Fuzzy Neural Network controller for AUV based on RAN

被引：0
|
作者：
Lv Chong [1 ]
Pang Yong-Jie [1 ]
Li Ye [1 ]
机构：
[1] Harbin Engn Univ, State Key Lab Autonomous Underwater Vehicle, Harbin 150001, Peoples R China
来源：
CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年
关键词：
Autonomous Underwater Vehicle; fuzzy neural network; Resource Allocating Network;
D O I：
10.1109/CCDC.2009.5195220
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A fuzzy neural network controller based on amelioration of Resource Allocating Network (RAN) is presented. This controller uses the improved RAN algorithm to on-line tune the number of hidden nodes in rule layer, which makes the values of network center data vary adaptively. Thus the precision and real-time requirement of the control system can be satisfied by the FNN with less structure. Based on the simulation platform of a certain plant-AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.
引用
收藏
页码：5726 / 5729
页数：4
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