OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE

Document Type: Research Paper

Authors

1 School of Electrical and Computer Engineering, Shiraz Univer- sity, Shiraz, Iran and Iranian Space Agency, Iranian Space Center, Mechanic Institute, Shiraz, Iran, P.O. Box: 71555-414

2 School of Electrical and Computer Engineering, Shiraz Univer- sity, Shiraz, Iran

3 School of Electrical and Computer Engineering, Shiraz Uni- versity, Shiraz, Iran

Abstract

In this study, the roll, yaw and depth fuzzy control of an Au-
tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are
regulated only using their errors and rates, but due to the complexity of depth
dynamic channel, additional pitch rate quantity is used to improve the depth
loop performance. The discussed AUV has four aps at the rear of the vehicle
as actuators. Two rule bases and membership functions based on Mamdani
type and Sugeno type fuzzy rule have been chosen in each loop. By invoking
the normalized steepest descent optimization method, the optimum values for
the membership function parameters are found. Though the AUV is a highly
nonlinear system, the simulation of the designed fuzzy logic control system
based on the equations of motion shows desirable behavior of the AUV spe-
cially when the parameters of the fuzzy membership functions are optimized.

Keywords


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