TY  - JOUR
T1  - Yüzey Dalgası Kaynaklı Bozucu Etkiler Altında Otonom Sualtı Araçlarının (AUVs) Hız Kararlılığının Uzun Kısa Süreli Bellek (LSTM) Tabanlı Model Öngörülü Kontrol (MPC) ile Sağlanması
TT  - Velocity Stabilization of Autonomous Underwater Vehicles (AUVs) under Surface Wave Induced Disturbances Using Long Short-Term Memory (LSTM) Based Model Predictive Control (MPC)
AU  - Önal, Ahmetcan
AU  - Şamiloğlu, Andaç Töre
PY  - 2025
DA  - September
Y2  - 2025
DO  - 10.29109/gujsc.1726037
JF  - Gazi Üniversitesi Fen Bilimleri Dergisi Part C: Tasarım ve Teknoloji
JO  - GUJS Part C
PB  - Gazi University
WT  - DergiPark
SN  - 2147-9526
SP  - 1031
EP  - 1045
VL  - 13
IS  - 3
LA  - tr
AB  - Otonom Sualtı Araçları (AUV’ler), sualtı keşfi, bilimsel araştırmalar ve açık deniz operasyonlarında hayati bir rol oynamaktadır. Ancak, yüzeye yakın sığ derinliklerde dalga kaynaklı bozucu etkiler nedeniyle hız kararlılığı bozulabilmektedir. Bu çalışma, karmaşık hidrodinamik modelleme veya sistem tanımlamasına ihtiyaç duymayan veri odaklı bir kontrol çerçevesi önermektedir. Dalga etkilerini içeren simülasyon verileriyle eğitilen Uzun Kısa Süreli Bellek (LSTM) tabanlı Tekrarlayan Sinir Ağı (RNN), AUV’nin hız tepkilerini tahmin etmektedir. Bu tahminler, harici bozucuları telafi eden optimal kontrol sinyalleri üretmek amacıyla Model Öngörülü Kontrol (MPC) yapısı içinde kullanılmaktadır. Yöntem, giriş–çıkış verilerinden sistemin doğrusal olmayan dinamiklerini ve çevresel etkileşimleri öğrenerek kontrol tasarımını sadeleştirirken öğrenilmiş deniz koşulları altında kararlılık sağlamaktadır. Simülasyonlar, LSTM-MPC çerçevesinin düşük izleme hataları sağladığını göstermektedir. Kontrol çerçevesi öğrenilmiş dalga koşullarında başarılı performans sergilerken, LSTM-MPC daha dinamik deniz durumlarına karşı da uyum yeteneği göstermektedir. Bu bulgular, yüzeye yakın AUV operasyonları için öğrenmeye dayalı öngörülü kontrol stratejilerinin potansiyelini vurgulamaktadır. Gelecek çalışmalarda, gerçek zamanlı uyum sağlamak için çevrimiçi öğrenmenin entegrasyonu ve önerilen yöntem performansının kontrollü bir dalga havuzunda deneysel olarak doğrulanması hedeflenmektedir.
KW  - Otonom Sualtı Aracı (AUV)
KW  - Dalga Kaynaklı Bozucu Etkiler
KW  - Uzun Kısa Süreli Bellek (LSTM)
KW  - Model Öngörülü Kontrol (MPC)
KW  - Dinamik Sistem Modellemesi
KW  - Veri Tabanlı Kontrol
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UR  - https://doi.org/10.29109/gujsc.1726037
L1  - https://dergipark.org.tr/en/download/article-file/4986263
ER  -