Milad Malekzadeh - Babol University of Technology Babol, Iran
Alireza Khosravi - Babol University of Technology Babol, Iran

in this note, a novel combination of sliding modecontroller and self-recurrent wavelet neural network identifier(SRWNNI) is employed to control nonlinear systems. SRWNNIhas a considerable flexibility to identify the dynamic of nonlinearsystem and this property helps the proposed method to present anew adaptive predictive control scheme for unknown dynamics.This procedure is implemented on the Destructive chaosphenomena that appear in Metamorphic shape-changingUnderwater autonomous Vehicle (MUV) and simulation resultsconfirm the effectiveness of this strategy.

sliding mode, wavelet neural network, identification, MUV