Motor Learning for Manoeuvring Control of a Remotely Operated Vehicle

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Abstract

The paper investigates the application of a bio-inspired control paradigm encompassing nonlinear function approximation and adaptive learning to design a manoeuvring controller for a remotely operated vehicle. The bio-inspired learning controller is adopted to overcome limitations introduced by unknown nonlinear dynamics as well as by environmental disturbances. The bio-inspired manoeuvring controller is compared against a traditional adaptive controller with respect to tracking performance and control effort. Simulation results show that the bio-inspired controller displays better tracking performance when the structure of the system dynamics is unknown. Further, the paper shows that offline training of the functional approximator helps in delivering a smoother control effort, and that a bio-inspired integral action fulfils the disturbance rejection.
Original languageEnglish
Book seriesIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume55
Issue number31
Pages (from-to)104-109
ISSN1474-6670
DOIs
Publication statusPublished - 2022
Event14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles - Technical University of Denmark, Kongens Lyngby, Denmark
Duration: 14 Sept 202216 Sept 2022
https://www.ifac-cams2022.dk/

Conference

Conference14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles
LocationTechnical University of Denmark
Country/TerritoryDenmark
CityKongens Lyngby
Period14/09/202216/09/2022
Internet address

Keywords

  • Biomimetics in marine robotics
  • Guidance
  • Navigation and control (GNC) of unmanned marine vehicles

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