摘要
探讨了水下机器人神经网络运动模型的结构 ,提出了带有局部回归结构的水下机器人神经网络控制器结构及预测控制的实现方法 ,给出了该神经网络的教师样本生成方法及学习方法 ,计算机仿真与水池实验结果验证了本文提出方法的有效性和可行性。
In this paper,a theoretical study on neural network motion model of AUV is made.A nerual network controller structure with partial recurrent structure and predictive control method are proposed.The method of sample production for the teaching data is given.The computer based simulation and experimental ressults by AUV show that the proposed method in this paper is reasonable and feasible.
出处
《船舶工程》
CSCD
北大核心
2000年第4期57-59,5,共3页
Ship Engineering
