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Published in:
2009 | OriginalPaper | Chapter
A Hybrid Approach for Designing the Control System for Underwater Vehicles
Authors : A. Lamas, F. López Peña, R. J. Duro
Published in: Hybrid Artificial Intelligence Systems
Publisher: Springer Berlin Heidelberg
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An approach in the form of an automatic evolutionary design environment for obtaining any type of control systems for underwater vehicles is presented. A specific case is considered in which this strategy is hybridized with Artificial Neural Networks. The design procedure is carried out by means of evolutionary techniques from a set of specifications using as a fitness evaluator an ad-hoc hydrodynamic simulator which includes the estimation of added mass and added inertia coefficients. The resulting design environment was used to construct the neural network based controllers of a submersible catamaran. Results of the application of the automatic design procedure and of the operation of the controllers thus obtained are presented.