On-Line Intelligent Control of Submarine Periscopes

In this paper, first, the dynamic equations of a submarine periscope will be extracted and verified with real data. These data are acquired from an experimental setup. Then, using a neural network, an intelligent control method will be developed to control the periscope model. The neural network will be trained on-line to cope with the changes in the system parameters. Simulation results will be compared with off-line trained neuro controller, which reveals good performance of the controller.