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Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.40 [2011] >
IJMS Vol.40(2) [April 2011] >
| Title: | Adaptive fuzzy control of unmanned underwater vehicles |
| Authors: | Salman, S. A.
Anavatti, Sreenatha A.
Asokan, T. |
| Keywords: | Dynamics
Seabed
Fuzzy system
Inertia matrix
Navigate
Autonomous |
| Issue Date: | Apr-2011 |
| Publisher: | NISCAIR-CSIR, India |
| Abstract: | Unmanned Underwater Vehicles (UUVs) have been playing an increasingly
important role in military and civilian operations and been widely used in
various applications. The main issue associated with the development and design
of UUV’s is the control system design. These vehicles have nonlinear dynamics
and coupling, and tend to exhibit time varying characteristics. In addition
they are subject to different environmental disturbances. Successful completion
of the UUV missions depends on the control provided by the autopilot unit
mounted on board. These controllers need to be tuned and analysed before
implementing them in real environment. In the present work, the first objective
is to demonstrate the capability of adaptive network fuzzy inference system,
namely ANFIS for modelling of UUVs and the second objective is to design a
fuzzy controller using the ANFIS model. The input output data from the UUV are
used for the ANFIS modelling. This model is used in the design and validation
of the fuzzy controller and the results are compared with a conventional PID
controller. |
| Page(s): | 168-175 |
| CC License: |  CC Attribution-Noncommercial-No Derivative Works 2.5 India |
| ISSN: | 0975-1033 (Online); 0379-5136 (Print) |
| Source: | IJMS Vol.40(2) [April 2011]
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