A novel control method based on generalized Sigmoid fuzzy neural network(SFNN) was developed to improve maneuverability and ability of avoiding obstacles in motion control of mini underwater vehicles.The structure of SFNN was constructed according to motion characters,and generalized Sigmoid function was selected as membership function.The learning algorithm which calculated dynamic learning ratio based on least disturbance was deduced to compensate sensibility.Comparison with Gauss fuzzy neural network(FNN...
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