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Anais do 14º Simpósio Brasileiro de Automação Inteligente
A ROV (Remotely Operated underwater Vehicle) system needs a precise estimation of its position in order to avoid damage and imprecise movements in certain missions. In this paper, an intelligent controller for the trajectory tracking of a ROV susceptible to external forces (water dynamics, currents, animals, etc.) is proposed based on feedback linearization with an adaptative function optimized using a machine learning strategy. This work proposes an approach to the matter employing andoi:10.17648/sbai-2019-111475 fatcat:ko2opdnxwfgevdbkv2tmznyifa