Design of Direct Adaptive Controller for Autonomous Underwater Vehicle Steering Control Using Wavelet Neural Network

웨이블릿 신경 회로망을 이용한 자율 수중 운동체 방향 제어기 설계

This paper presents a design method of the wavelet neural network(WNN) controller based on a direct adaptive control scheme for the intelligent control of Autonomous Underwater Vehicle(AUV) steering systems. The neural network is constructed by the wavelet orthogonal decomposition to form a wavelet neural network that can overcome nonlinearities and uncertainty. In our control method, the control signals are directly obtained by minimizing the difference between the reference track and original signal of AUV model that is controlled through a wavelet neural network. The control process is a dynamic on-line process that uses the wavelet neural network trained by gradient-descent method. Through computer simulations, we demonstrate the effectiveness of the proposed control method.