Comparison of Nonlinear and Simplified Models of Automatically Controlled Underwater Vehicle
Journal Title: Problemy Mechatroniki. Uzbrojenie, lotnictwo, inżynieria bezpieczeństwa - Year 2011, Vol 2, Issue 1
Abstract
Using time consuming calculations methods e.g. neuro-evolutionary to control of a single underwater vehicle or a team of underwater vehicles is connected with many calculations, what can make impossible receiving a solution in reasonable time. Usually a nonlinear mathematical model is used to simulate movement of the underwater vehicle. Using the nonlinear model is connected with complicated calculations. Therefore, using the simplified model of the automatically controlled underwater vehicle is proposed in the paper. The model was compared with the nonlinear model based on trajectories of vehicles generated by means of both models.
Authors and Affiliations
Piotr SZYMAK
Keywords
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