Please use this identifier to cite or link to this item:
Full metadata record
DC FieldValueLanguage
dc.contributor.authorAuxillia, D. Jeraldin-
dc.identifier.issn0975-1033 (Online); 0379-5136 (Print)-
dc.description.abstractDeep Submergence Rescue Vehicle (DSRV) is an underwater vehicle designed for immediate rescue operation in the incident of a submarine mishap.  During this rescue operation, precise and dynamic trajectory tracking of DSRV is difficult due to poor visibility and  complex marine environment caused by unstable waves, winds etc. In this work a Genetic based Fuzzy Logic Controller (GAFLC) is designed to solve the trajectory tracking control problem of DSRV in the presence of unknown time varying wave disturbances.  In first step a conventional Fuzzy Logic Controller (FLC) is designed with fixed rule base and membership functions from expert’s knowledge and scaling factor chosen by trial and error.  In second step to enhance the trajectory tracking performance and to improve the system robustness to unstable wave disturbances the complete knowledge base of FLC is parameterized and optimized to find an optimal fuzzy controller without expert‘s knowledge. Genetic Algorithm (GA) is used to optimize the input and output membership functions, the rule base and the scaling factors of FLC simultaneously. Simulations are performed on four 2D reference trajectories corresponding to under water scenarios to demonstrate the effectiveness of the designed GAFLC in trajectory tracking and disturbance rejection.en_US
dc.publisherNISCAIR-CSIR, Indiaen_US
dc.rights CC Attribution-Noncommercial-No Derivative Works 2.5 Indiaen_US
dc.sourceIJMS Vol.46(11) [November 2017]en_US
dc.subjectUnder water vehicleen_US
dc.subjectFuzzy logic controlleren_US
dc.subjectGenetic algorithmen_US
dc.subjectTrajectory trackingen_US
dc.titleParallel Tuning of Fuzzy Tracking Controller for Deep Submergence Rescue Vehicle using Genetic Algorithmen_US
Appears in Collections:IJMS Vol.46(11) [November 2017]

Files in This Item:
File Description SizeFormat 
IJMS 46(11) 2228-2240.pdf884.88 kBAdobe PDFView/Open

Items in NOPR are protected by copyright, with all rights reserved, unless otherwise indicated.