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A motion control strategy consisting of both position and speed control was designed for different work assignments of Autonomous Underwater Vehicles (AUV). To provide a form that will be suitable for simulation and control purposes, a general mathematical model of underwater vehicles was derived based on the six degrees of freedom nonlinear equations of motion. An improved S-surface controller based...
In this paper, an improved Takagi-Sugeno (T-S) Fuzzy Neural Network (FNN) based on modified learning is proposed for the motion control of Autonomous Underwater Vehicles (AUV). Aiming to improve the control precision and adaptability of T-S fuzzy model, a fuzzy objective is used to update the fuzzy rules and the proportion factor on-line. A modified learning of network is developed by back-propagating...
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