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Self-adaptive neuro-fuzzy systems with fast parameter learning for autonomous underwater vehicle control

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3 Author(s)
Jeen-Shing Wang ; Sch. of Electr. & Comput. Eng., Purdue Univ., West Lafayette, IN, USA ; C. S. G. Lee ; J. Yuh

Presents a systematic approach for developing a concise self-adaptive neuro-fuzzy inference system (SANFIS) with a fast hybrid parameter learning algorithm for online learning the control knowledge for autonomous underwater vehicles (AUV). The multi-layered structure of SANFIS incorporates fuzzy basis functions for better function approximations. Based on the need of different applications, we investigate three SANFIS structures with three different types of fuzzy IF-THEN-rule-based models and cast the rule formation problem as a clustering problem. A recursive least squares algorithm and a modified Levenberg-Marquardt algorithm with limited memory are exploited to accelerate the learning process. Thus, incorporating an online clustering technique, a fast hybrid learning procedure and rule examination, the SANFIS is capable of self-organizing and self-adapting its internal structure for learning the required control knowledge for an AUV to follow desired trajectories. Computer simulations for modeling a control system for an AUV have been conducted to validate the effectiveness of the proposed SANFIS

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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