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Author Farrell, J. ♦ Goldenthal, B. ♦ Govindarajan, K.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1990
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Control systems ♦ Underwater vehicles ♦ Vehicle dynamics ♦ Backpropagation algorithms ♦ Force control ♦ Control system synthesis ♦ Nonlinear control systems ♦ Time varying systems ♦ Nonlinear dynamical systems ♦ Learning systems
Abstract Control system design for vehicles with highly nonlinear, time-varying, or poorly modeled dynamics is considered. The use of connectionist systems as learning controllers is proposed. The ability of connectionist systems to approximate arbitrary continuous functions (e.g., control laws) overcomes the usual memory-intensive nature of learning systems. The backpropagation algorithm is extended to allow the connectionist system to learn to function as a closed-loop controller and to force the dynamics of the closed-loop system to match the prespecified dynamics of a reference system. An example of the application of this algorithm to the depth control of an autonomous underwater vehicle is included.<<ETX>>
Description Author affiliation: Charles Stark Draper Lab., Cambridge, MA, USA (Farrell, J.; Goldenthal, B.; Govindarajan, K.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1990-12-05
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 708.33 kB
Page Count 6
Starting Page 2362
Ending Page 2367

Source: IEEE Xplore Digital Library