Fuzzy neural network controller for AUV based on RAN

Authors:
Lv Chong;Pang Yong-Jie;Li Ye
Affiliations:
State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin, China;State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin, China;State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin, China
Venue:
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Year:
2009

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Abstract

A fuzzy neural network controller based on amelioration of Resource Allocating Network (RAN) is presented. This controller uses the improved RAN algorithm to on-line tune the number of hidden nodes in rule layer, which makes the values of network center data vary adaptively. Thus the precision and real-time requirement of the control system can be satisfied by the FNN with less structure. Based on the simulation platform of a certain plant--AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.