Neural network augmented identification of underwater vehicle models

In this article the use of neural networks in the identification of models for underwater vehicles is discussed. Rather than using a neural network in parallel with the known model to account for unmodelled phenomena in a model wide fashion, knowledge regarding the various parts of the model is used to apply neural networks for those parts of the model that are most uncertain. As an example, the damping of an underwater vehicle is identified using neural networks. The performance of the neural network based model is demonstrated in simulations using the neural networks in a feed forward controller. The advantages of online learning are shown in case of noise impaired measurements and changing dynamics due to a change in toolskid.