Summary
A neural network model reference adaptive controller for trajectory tracking of nonlinear systems is developed. The proposed control algorithm uses a single layer neural network that bypasses the need for information about the system’s dynamic structure and characteristics and provides portability. Numerical simulations are performed using nonlinear dynamic models of marine vehicles. Results are presented for two separate vehicle models, an autonomous surface vehicle and an autonomous underwater vehicle, to demonstrate the controller performance in terms of tuning, robustness, and tracking.
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© 2006 Birkhäuser Boston
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Leonessa, A., VanZwieten, T., Morel, Y. (2006). Neural Network Model Reference Adaptive Control of Marine Vehicles. In: Menini, L., Zaccarian, L., Abdallah, C.T. (eds) Current Trends in Nonlinear Systems and Control. Systems and Control: Foundations & Applications. Birkhäuser Boston. https://doi.org/10.1007/0-8176-4470-9_23
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DOI: https://doi.org/10.1007/0-8176-4470-9_23
Publisher Name: Birkhäuser Boston
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