@inproceedings{4bbf22e686124cadbb5766218cbd46f7,
title = "Neural network-based visual positioning control of unmanned underwater vehicles with thruster time delay",
abstract = "The time delay makes it difficult to achieve expected dynamic positioning (DP) performance of unmanned underwater vehicles (UUVs), which may even affect the stability of the system. This work is focused on the compensation for the thruster time delay in the visual positioning system of UUV. A control scheme using time delay feedback is proposed to enhance adaptation to the thruster time delay from the image-based visual servo (IBVS) system. A neural network (NN) is developed to compensate dynamic uncertainties. Simulation studies show the effectiveness of this approach in comparison with the strategy without compensation for time delay.",
keywords = "Dynamic positioning (DP), Image-based visual servo (IBVS), Neural network (NN), Time delay, Unmanned underwater vehicle (UUV)",
author = "Yingxiang Wang and Weisheng Yan and Jian Gao and Hong Yue",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 ; Conference date: 28-05-2018 Through 31-05-2018",
year = "2018",
month = dec,
day = "4",
doi = "10.1109/OCEANSKOBE.2018.8559482",
language = "英语",
series = "2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018",
}