Title: Neural networks modelling and generalised predictive control for an autonomous underwater vehicle

Authors: Jianan Xu, Mingjun Zhang, Yujia Wang

Addresses: College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. ' College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. ' College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

Abstract: This paper investigates the application of neural networks-based generalised predictive motion control for an autonomous underwater vehicle (AUV). The modified Elman neural networks (MENNs) are used as the multi-step predictive model, and the fused identification model is proposed to improve the predictive and control precision. The MENNs online learning improves the control system adaptability to the unpredictable operating environment for AUV. Simulations on AUV yaw velocity control are concluded to illustrate the effectiveness of the proposed control scheme.

Keywords: autonomous underwater vehicles; AUVs; generalised predictive control; GPC; modified Elman neural networks; MENNs; autonomous vehicles; motion control; yaw velocity control.

DOI: 10.1504/IJMIC.2010.035282

International Journal of Modelling, Identification and Control, 2010 Vol.11 No.1/2, pp.79 - 86

Published online: 20 Sep 2010 *

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