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Aiming at the character that the uncertainties of the complex system of underwater vehicle (UV) bring to model the system very difficult, a fuzzy neural network (FNN) with least adjustment is proposed to construct the motion model of UV. The adjustment of the dynamic learning rate and weights of FNN is studied. The FNN has the ability not only to approach the whole figure of a function but also to...
To aim at the character that the uncertainties of the complex system of Autonomous Underwater Vehicle (AUV) bring to model the system difficult, a wavelet neural network (WNN) is proposed to construct the motion model of AUV. The adjustment of the scale factor and shift factor of wavelet and weights of WNN is studied. The WNN has the ability not only to approach the whole figure of a function but...
Study of thruster fault diagnosis of Underwater Robots (URs) is undertaken to improve its whole system reliability. Based on the BP neural network, an improved recurrent neural network (RNN) is proposed and the network training algorithm is deduced. The RNN is trained by voyage head and yaw turning experiments, and the well trained network is applied to model for the URs. Compared the model's outputs...
Researches are undertaken to improve the control effect of Underwater Robots. A capacitor plate model controller (CPMC) is designed for a certain type of Underwater Robot. A new control method: generalized S-plane controller (GSPC) is put forward based on the analysis of two new control methods, sigmoid S-plane control (SSPC) and capacitor plate model control. Generalized S-plane controller represents...
Research on sensor fault diagnosis of underwater robots (URs) is undertaken to improve its whole system reliability. Based on the analysis of URspsila three kinds of sensor failures, fault diagnosis methods corresponding to these failures are presented. The basic principles of wavelet transform and linear smoothing are expressed, signal singularity analysis is conducted and the general standard of...
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