| 水下智能潜器的神经网络运动控制 |
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| 引用本文： | 彭良,卢迎春,万磊,孙俊岭.水下智能潜器的神经网络运动控制[J].海洋工程,1995(2). |
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| 作者姓名： | 彭良 卢迎春 万磊 孙俊岭 |
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| 作者单位： | 哈尔滨工程大学 |
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| 摘 要： | 本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。
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| 关 键 词： | 智能潜器，学习控制，神经网络，自适应滤波 |
NEURAL NETWORK CONTROL FOR INTELLIGENT UNDERWATER VEHICLE MOTION |
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| Peng Liang,Lu Yingchun,Wan Lei,Sun Junling.NEURAL NETWORK CONTROL FOR INTELLIGENT UNDERWATER VEHICLE MOTION[J].Ocean Engineering,1995(2). |
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| Authors: | Peng Liang Lu Yingchun Wan Lei Sun Junling |
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| Abstract: | This paper introduces an underwater vehicle motion control method which involves a learning control strategy based on neural networks. Through on-line learning,such method can blend control and filtering as a whole. The results of computer simulations and tank exper iments show that the performance of the control and filtering is good and that the learning and self adaptive ability is strong. Actually this method can be used for the control of a general dynamic system. |
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| Keywords: | intelligent underwater vehicle learning control neural networks selfadaptive filtering |
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