FUZZY NEURAL NETWORK SLIDING-MODE CONTROL OF AUTO DEPTH FOR AUV

WANG Wei, BIAN Xin-qian, WANG Da-hai. FUZZY NEURAL NETWORK SLIDING-MODE CONTROL OF AUTO DEPTH FOR AUV[J]. ROBOT, 2003, 25(3): 209-212,249.

Citation:

WANG Wei, BIAN Xin-qian, WANG Da-hai. FUZZY NEURAL NETWORK SLIDING-MODE CONTROL OF AUTO DEPTH FOR AUV[J]. ROBOT, 2003, 25(3): 209-212,249.

Citation:

WANG Wei, BIAN Xin-qian, WANG Da-hai. FUZZY NEURAL NETWORK SLIDING-MODE CONTROL OF AUTO DEPTH FOR AUV[J]. ROBOT, 2003, 25(3): 209-212,249.

Abstract

A fuzzy neural network(FNN) sliding mode controller is studied in this paper. The FNN is adopted to adjust the control gain in a switching control condition. The controller is applied to control the depth of AUV motion under the influence of ocean waves. The simulation results reveal the advantage and robustness of the method.

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