Design of a Fuzzy Controller for an Underwater Vehicle Aiming at a Stationary Target

Abstract

In this paper, on the basis of a robust algorithm for the analysis of the 6 DOF motion of an underwater vehicle in calm water, after presenting the dynamics model and simulating motion, the model is put in the closed loop control to perform a controlled mission. The mission is defined as to navigate the submarine toward a desired point in the vertical plane. In performing the mission, the least time and of course the least position error with respect to the target point is aimed. The designed controller based on fuzzy logic and thus adapted to the human patterns for navigation, with a simple structure, performs the mission accurately. The intelligent structure of the fuzzy controller, results in a spectacular capability in target finding; such that by the increase of mission duration, the submarine, which never completely stops in this modeling, reaches the target point multiple times. Several simulations of the controlled motion, changing the coordinates of target point, proved the controller effectiveness.

Design of a Fuzzy Controller for Underwater Vehicles to Avoid Moving Obstacles

“…Omerdic & Roberts (2002) completed and somehow modified that design [10]. As other efforts, design of a sliding mode fuzzy controller for an autonomous underwater vehicle (AUV) and the grayfuzzy controller for mobile target tracking can be mentioned in [15] and [12]. Also, in recent years, fuzzy logic was used for obstacle avoidance in autonomous underwater vehicles control as is presented in [2,4].…”

“…The first industrial autopilot with a fuzzy controller that was adaptive to environmental changes was designed by Polkinghome et al (1998) [12]. Vukic et al (1998) designed a fuzzy autopilot for track keeping [12]. Omerdic & Roberts (2002) completed and somehow modified that design [10].…”

“…To cope with this problem, Sutton and Jess (1991) proposed the first autopilot fuzzy system, which had the automatic adaptation and tuning ability. The first industrial autopilot with a fuzzy controller that was adaptive to environmental changes was designed by Polkinghome et al (1998) [12]. Vukic et al (1998) designed a fuzzy autopilot for track keeping [12].…”