Fuzzy Neural Network Hybrid Learning Control on AUV

A novel controller based on the fuzzy B-spline neural network is presented, which combines the advantages of qualitative defining capability of fuzzy logic, quantitative learning ability of neural networks and excellent local controlling ability of B-spline basis functions, which are being used as fuzzy functions. A hybrid learning algorithm of the controller is proposed as well. The results show that it is feasible to design the fuzzy neural network control of autonomous underwater vehicle by the hybrid learning algorithm.