Attitude Control Method of Six Degree of Freedom Autonomous Underwater Vehicle Based on RBF Neural Network

This paper addresses a new adaptive control method based on radial basis function (RBF) neural network to control the attitude of the autonomous underwater vehicle. The mathematical model of the autonomous underwater vehicle is constructed and its kinematic model and dynamic model are established. The Lyapunov theory is used to analyze the convergence of the estimations. The advantages of this neural network are verified through simulation, which is helpful and enlightening for the design of the control system of the underwater vehicle.