No abstract

No abstract

ABSTRACT

As we all know that the heading control of unmanned surface vessel (USV)

Abstract.A class of autonomous underwater vehicle (AUV) heading control problem is addressed in this paper based on Mamdani Fuzzy Inference (MFI). Firstly, empirical knowledge of heading control for ship from experienced captain is fuzzed into fuzzy control rules, which can be identified by computer, using fuzzy set theory. Secondly, output of the controller is derived by calculating the excitation of system input to the control rules, combing with the application of multi-input-multi-rule MFI. Thirdly, robust adaptive heading controller for AUV is designed incorporating the distributing characteristics of Gaussian membership function, in order to overcome randomness and uncertainty of the external environment disturbances on AUV. At last, simulation experiment is carried out to verify the effectiveness and superiority of the controller designed.