Modeling and controlling the descent operation of a fish robot using neural networks
This paper presents a neural networks model (NNM) and for modeling and identifying the nonlinear behavior of a fish robot. Firstly, a set of driving moment signals were applied to the fish robot in order to investigate the fish robot operation. Consequently, a neural networks model was constructed a...
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Published in | 2015 15th International Conference on Control, Automation and Systems (ICCAS) pp. 1920 - 1923 |
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Main Authors | , , |
Format | Conference Proceeding |
Language | English |
Published |
Institute of Control, Robotics and Systems - ICROS
01.10.2015
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Subjects | |
Online Access | Get full text |
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Summary: | This paper presents a neural networks model (NNM) and for modeling and identifying the nonlinear behavior of a fish robot. Firstly, a set of driving moment signals were applied to the fish robot in order to investigate the fish robot operation. Consequently, a neural networks model was constructed and an identification scheme based on Genetic Algorithm was developed. Validation results proved the ability of proposed scheme to tracking the descent operation of the fish robot. The combination of PID controller and NNM was implemented and successfully control fish robot follow given trajectories. |
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ISSN: | 2093-7121 |
DOI: | 10.1109/ICCAS.2015.7364679 |