A direct adaptive fuzzy approach is presented for parameter identification and control of unknown nonlinear systems. To prove the performance of the proposed method an AUV (Autonomous Underwater Vehicle) is modeled using an ANFIS (Adaptive Neuro-Fuzzy Inference System). To guaranty high accuracy the model is adapted online using system input and output data. From the model the current process parameters are identified and utilized for controller design. Here, single step ahead direct adaptive control and multi steps ahead direct control schemes are considered.
Neuro-fuzzy adaptive control and modeling a thruster of autonomous underwater vehicles
Neuro-Fuzzy-Adaptivregelung und Modellbildung eines Schuberzeugers für ein autonomes Unterwasserfahrzeug
2006
7 Seiten, 10 Bilder, 1 Tabelle, 14 Quellen
Conference paper
Storage medium
English
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