Hierarchical Model Predictive Image-Based Visual Servoing of Underwater Vehicles with Adaptive Neural Network Dynamic Control

IEEE Transactions on Cybernetics

Volumn 46, Issue 10, 2016, Pages 2323-2334

  Gao, Jian ^a   Proctor, Alison A ^b   Shi, Yang ^b   Bradley, Colin ^b  

^a NORTHWESTERN POLYTECHNICAL UNIVERSITY   (China)

^b UNIVERSITY OF VICTORIA   (Canada)

Author keywords

Dynamic positioning (DP); image based visual servoing (IBVS); model reference adaptive control (MRAC); neural network (NN); nonlinear model predictive control (NMPC); underwater vehicles

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; CONTROLLERS; COST FUNCTIONS; HIERARCHICAL SYSTEMS; KINEMATICS; ROBOT APPLICATIONS; VEHICLES; VELOCITY; VISUAL SERVOING;

ADAPTIVE NEURAL NETWORKS; COMPARATIVE SIMULATION; IMAGE BASED VISUAL SERVOING; NETWORK-BASED MODELING; PREDICTION HORIZON; REFERENCE MODELING; SYSTEM CONFIGURATIONS; UNDERWATER VEHICLES;

MODEL REFERENCE ADAPTIVE CONTROL;

ARTIFICIAL NEURAL NETWORK; IMAGE PROCESSING; PROCEDURES; SHIP; THEORETICAL MODEL;

IMAGE PROCESSING, COMPUTER-ASSISTED; MODELS, THEORETICAL; NEURAL NETWORKS (COMPUTER); SHIPS;

EID: 84943177653     PISSN: 21682267     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCYB.2015.2475376     Document Type: Article

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