Using a cerebellar model arithmetic computer (CMAC) neural network to control an autonomous underwater vehicle

Author

• Rick F. Comoglio

Author Type

Graduate Student

Date of Award

1991

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Pandya, Abhijit S.

Abstract

The design of an Autonomous Undersea Vehicle (AUV) control system is a significant challenge in-light of the highly uncertain nature of the ocean environment together with partially known nonlinear vehicle dynamics. This thesis describes a Neural Network architecture called Cerebellar Model Arithmetic Computer (CMAC). CMAC is used to control a model of an Autonomous Underwater Vehicle. The AUV model consists of two input parameters, the rudder and stern plane deflections, controlling six output parameters; forward velocity, vertical velocity, pitch angle, side velocity, roll angle, and yaw angle. Properties of CMAC and results of computer simulations for identification and control of the AUV model are presented.

Extent

145 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.C.E.)--Florida Atlantic University, 1991.|College of Engineering and Computer Science

Recommended Citation

Comoglio, Rick F., "Using a cerebellar model arithmetic computer (CMAC) neural network to control an autonomous underwater vehicle" (1991). Electronic Theses and Dissertations 1990 - 1999. 247.
https://digitalcommons.fau.edu/etd_general_4/247

Identifier

FADT14762

Format

pdf