EUSFLAT- LFA 2005 The Neural Model of Dynamics of Unmanned Underwater Vehicle

In the paper using of the artificial neural networks for determination of coefficients of state equations of underwater vehicle’s motion in a horizontal plane and influence of neuron’s activation function for quality of underwater vehic le’s motion modelling is presented. The recurrent optimization network is used to identify parameters of the underwater vehicle’s dynamics. A structure and the operating principle of the network and results of computer simulation of underwater vehicle’s motion along a desired trajectory are described. Values of state variables generated by a differential nonlinear model and a neural model are inserted. Presented neural model was developed to use in simulator for system of control of underwater vehicle