OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE

被引：0
|
作者：
Raeisy, B. [1 ,2 ]
Safavi, A. A. [1 ]
Khayatian, A. R. [1 ]
机构：
[1] Shiraz Univ, Sch Elect & Comp Engn, Shiraz, Iran
[2] Iranian Space Agcy, Iranian Space Ctr, Inst Mech, Shiraz, Iran
来源：
IRANIAN JOURNAL OF FUZZY SYSTEMS | 2012年 / 9卷 / 02期
关键词：
Fuzzy optimized control; Autonomous underwater vehicle; Normalized steepest descent; Neural network;
D O I：
暂无
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
In this study, the roll, yaw and depth fuzzy control of at Autonomous 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 flaps 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 specially when the parameters of the fuzzy membership functions are optimized.
引用
收藏
页码：25 / 41
页数：17
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