AUV-CSEM: An Improvement in the Efficiency of Multi-Sensor Mapping of Seafloor Massive Sulfide (SMS) Deposits with an AUV

Bloomer, Steve; Kowalczyk, Matthew; Kowalczyk, Peter; Constable, Steven; Haber, Eldad; Kasuga, Toru

doi:10.1109/oceanskobe.2018.8559049

Cited by 2 publications

(1 citation statement)

References 15 publications

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“…e French developed the world's first AUV, Epaulard, in the 1970s [1]. After more than 40 years of development, AUV has been widely used in marine environment exploration [2,3], marine mineral exploration [4], marine data collection [5], maritime alert [6], and other aspects.…”

Section: Introductionmentioning

confidence: 99%

An Embedded Linear Model Three-Dimensional Fuzzy PID Control System for a Bionic AUV under Wave Disturbance

Lyu

et al. 2022

Mathematical Problems in Engineering

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This study provides a new embedded linear model (ELM) three-dimensional fuzzy PID control method for a bionic autonomous underwater vehicle (AUV), which is disturbed by ocean waves. The uncertainty of the ocean waves will make it difficult for the AUV to achieve good sailing quality, especially near the sea surface. In view of this problem, an ELM fuzzy PID controller, which adopts three-dimensional fuzzy control rules, is designed. In the ELM fuzzy PID controller, a linear model of AUV is established in order to actively perceive the effect of waves on AUV. Hence, the wave disturbance can be reflected in the control signal earlier and faster. Finally, three simulations are carried out to verify the control effect of the ELM fuzzy PID controller. An ocean wave disturbance model is established in order to simulate the force and the moment acting on the AUV. The results imply that compared with the classical PID controller and normal fuzzy PID controller, the ELM fuzzy PID controller can significantly enhance the stability of AUV and make the response faster and overshoot smaller.

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