A Nonlinear Fuzzy Logic Controller Developed for an Autonomous Surface Boat

Abstract

This paper presents an optimized nonlinear fuzzy logic controller designed for an autonomous surface craft and describes the process by which it was found. The nonlinear fuzzy logic controller described herein was developed to maintain the linear feedback control of an optimal set of controller gains when the state is near the operating point. The simplex optimization method was utilized to find the optimal fuzzy logic parameters that define the shape of the control law away from the normal operating point. The resultant controller showed approximately a 20% improvement over the optimal linear controller.

Nonlinear controller of an air-cushion system for a swamp terrain vehicle: fuzzy logic approach

“…No mathematical model can describe such a complex mechanics system satisfactorily [8]. In efforts to control such systems, the fuzzy logic controller (FLC) has become a popular model that offers nonlinear control and has the advantage that the fuzzy controller does not require a precise mathematical model [9][10][11][12]. The appropriate and inexact nature of the air-cushion system for a tracked vehicle has been effectively captured using fuzzy logic, which is a logical system closer to human knowledge and machine language.…”