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Type of publication: Straipsnis / Article
Author(s): Garus, Jerzy;Małecki, Józef
Title: Application of soft computing techniques to motion control of underwater robotic vehicle
Is part of: Agricultural engineering = Žemės ūkio inžinerija, 2014, vol. 46, p. 4-13
Date: 2014
Abstract: Using of artificial intelligence techniques to steering of underwater robotic vehicle along a reference path is considered in the paper. For the tracking, the way-point line of sight scheme is applied. Command signals are generated by an autopilot consisting of four independent controllers with a fuzzy control law implemented. Parameters of the controllers are tuned by means of genetic algorithms. A quality of control is tested without and in presence of environmental disturbances. Selected results of computer simulations are inserted to demonstrate quality of the approach.
Appears in Collections:Agricultural engineering / Žemės ūkio inžinerija 2014, vol. 46

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