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Neural networks based control for an autonomous underwater vehicle equipped with the collective and cyclic pitch propeller

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Tran, MQ and Nguyen, HD ORCID: 0000-0003-0118-8597 2018 , 'Neural networks based control for an autonomous underwater vehicle equipped with the collective and cyclic pitch propeller', paper presented at the First International Conference on Fluid Machinery and Automation Systems 2018, 27-28 October 2018, Hanoi, Vietnam.

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Abstract

This paper presents a neural network controller for an autonomous underwater vehicle (AUV) equipped withan innovative collective and cyclic pitch propeller (CCPP). The AUV equipped with a CCPP consists of anew type of propulsion system based on the principle of a helicopter rotor. The dynamics of the AUV withCCPP is briefly described for control design. The main objective of the proposed neural networks basedcontrol algorithm is to move the AUV in all directions using only one CCPP with a shaft speed, collectivepitch and cyclic angles by carrying out various underwater mission manoeuvres. The proposed controlalgorithm is applied for numerical simulation study using the recently developed mathematical models of anobservation class underwater vehicle platform, namely Gavia, equipped with a CCPP. The work in this paperis a continuity on verification of capability of the AUV with CCPP to move in all directions. The simulationresults demonstrate the good performance in the course keeping, changing and trajectory tracking controlsusing neural network based control algorithm.

Item Type: Conference or Workshop Item (Paper)
Authors/Creators:Tran, MQ and Nguyen, HD
Keywords: autonomous underwater vehicle, collective and cyclic pitch propeller, neural networks, control and simulation
Journal or Publication Title: Proceedings of the First International Conference on Fluid Machinery and Automation Systems 2018
Publisher: Bach Khoa Publishing House
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