小波神经网络自抗扰控制器在水下机器人深度控制中的应用

摘要

The purpose of this article is mainly to accomplish the depth control of Autonomous Underwater Vehicles. Because of the disadvantage of BP neural networks and the advantage of wavelet neural network, we desigaed a wavelet neural network active disturbance rejection controller. We used the Matlab-simulink to test the controller. The controller has good control effect and high robustness.%本文主要实现对水下机器人的深度控制。针对BP神经网络的缺点，根据小波神经网络的优越性，设计小波神经网络自抗扰控制器。利用Matlab-simulink对控制器进行仿真测试，表明该控制器控制效果良好，具有较高的鲁棒性。