Identification of Non-linear Dynamic Model of UUV Based on ESN Neural Network
会议名称：《第三十届中国控制会议》
会议日期：2011年
学科分类：08[工学] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造]
关 键 词：Unmanned underwater vehicle(UUV) Non-linear system identification Recurrent neural network Echo state network Dynamic model
摘 要：正Unmanned underwater vehicle（UUV） is a highly complex nonlinear dynamic system,and neural network has the ability to arbitrary approximate nonlinear system in ***,echo state network（ESN） is a new type recurrent neural network based on state *** improve the accuracy of UUV’s dynamic model,this paper based on the use of echo state networks（ESN） of the system identification method,using meta-learning strategy for offline training ESN network and genetic algorithm to optimize the main parameters,to remove the difficulty of choosing the ESN *** method was applied to approximate of dynamic model of six degree of freedom of UUV,and build on the dynamic ***,the simulation proved that the network structure identification algorithm has a good approximation ability and fast training speed.