Si-an Yoo

A Lyapunov-Gated Adaptive Law for Drift-Free Neural-Network Depth Control of a Remotely Operated Vehicle in Persistent Seas

This paper addresses the depth regulation of an inspection-class remotely operated vehicle whose hydrodynamic model is uncertain and whose environment applies a persistent, non-vanishing wave disturbance. A neural-network learning term added to a proportional-derivative feedback...