Neural network-based visual positioning control of unmanned underwater vehicles with thruster time delay

Yingxiang Wang; Weisheng Yan; Jian Gao; Hong Yue

doi:10.1109/OCEANSKOBE.2018.8559482

Neural network-based visual positioning control of unmanned underwater vehicles with thruster time delay

Yingxiang Wang, Weisheng Yan, Jian Gao, Hong Yue

Electronic And Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

3 Citations (Scopus)

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.

Original language	English
Title of host publication	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
Number of pages	6
ISBN (Electronic)	9781538616543
DOIs	https://doi.org/10.1109/OCEANSKOBE.2018.8559482
Publication status	Published - 4 Dec 2018
Event	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japan Duration: 28 May 2018 → 31 May 2018

Publication series

Name	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Conference

Conference	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
Country/Territory	Japan
City	Kobe
Period	28/05/18 → 31/05/18

Funding

ACKNOWLEDGMENT This work is supported by the China Scholarship Council (CSC) (No.201606290247).

Keywords

dynamic positioning (DP)
image-based visual servo (IBVS)
neural network (NN)
time delay
unmanned underwater vehicle (UUV)

Access to Document

10.1109/OCEANSKOBE.2018.8559482

Cite this

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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 = "Funding Information: ACKNOWLEDGMENT This work is supported by the China Scholarship Council (CSC) (No.201606290247). Publisher Copyright: {\textcopyright} 2018 IEEE. Y. Wang, W. Yan, J. Gao and H. Yue, {"}Neural Network-Based Visual Positioning Control of Unmanned Underwater Vehicles with Thruster Time Delay,{"} 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO), Kobe, Japan, 2018, pp. 1-6, doi: 10.1109/OCEANSKOBE.2018.8559482. ; 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 ; Conference date: 28-05-2018 Through 31-05-2018",

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doi = "10.1109/OCEANSKOBE.2018.8559482",

language = "English",

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booktitle = "2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018",

}

Wang, Y, Yan, W, Gao, J & Yue, H 2018, Neural network-based visual positioning control of unmanned underwater vehicles with thruster time delay. in 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018., 8559482, 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018, 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018, Kobe, Japan, 28/05/18. https://doi.org/10.1109/OCEANSKOBE.2018.8559482

Neural network-based visual positioning control of unmanned underwater vehicles with thruster time delay. / Wang, Yingxiang; Yan, Weisheng; Gao, Jian et al.
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018. 2018. 8559482 (2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

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T1 - Neural network-based visual positioning control of unmanned underwater vehicles with thruster time delay

AU - Wang, Yingxiang

AU - Yan, Weisheng

AU - Gao, Jian

AU - Yue, Hong

N1 - Funding Information: ACKNOWLEDGMENT This work is supported by the China Scholarship Council (CSC) (No.201606290247). Publisher Copyright: © 2018 IEEE. Y. Wang, W. Yan, J. Gao and H. Yue, "Neural Network-Based Visual Positioning Control of Unmanned Underwater Vehicles with Thruster Time Delay," 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO), Kobe, Japan, 2018, pp. 1-6, doi: 10.1109/OCEANSKOBE.2018.8559482.

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AB - 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.

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KW - image-based visual servo (IBVS)

KW - neural network (NN)

KW - time delay

KW - unmanned underwater vehicle (UUV)

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T2 - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Y2 - 28 May 2018 through 31 May 2018

ER -

Neural network-based visual positioning control of unmanned underwater vehicles with thruster time delay

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