A neural network based controller for underwater robotic vehicles

05/23/2022

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by   Josiane Maria Macedo Fernandes, et al.

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Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated underwater vehicles based. The adopted approach is developed using Lyapunov Stability Theory and enhanced by a neural network based algorithm for uncertainty and disturbance compensation. The performance of the proposed control scheme is evaluated by means of numerical simulations.