Underwater vehicles are commonly classified as being highly nonlinear uncertain systems and are consequently difficult to control effectively using model-based control methods. Application of a fuzzy-like PD control for both steering and depth control of an underwater vehicle is described in this paper. The design of these types of controllers is of interest both from the point of view of the course changing, course keeping and mission and motion control. The architecture of the controller is based on two independent fuzzy-like PD controllers for each controlled variable yaw and depth. Control performance and robustness are the most important issues of the above controllers and their optimum values need to be identified. These parameters may be the scaling factors that are applied in the input/output of the PD part of the controller as well as the fuzzy sets of the fuzzy part of the controller. The parameters of the fuzzy sets are optimised based mostly on the expert's knowledge in terms of systems' dynamics and uncertainty analysis. The gains of input/output scale factors are optimised since they play an important role in the formation of the dynamics of the closed-loop structure leading to the desired response of the control system. This optimisation is based on experiments in a real environment and were planned using the Taguchi method for the design of experiments. Results are presented and analysed extensively to investigate the capabilities of the controller.
Navigation control of an underwater robot using fuzzy-like PD controller
2000
1 Seite, 5 Quellen
pp.
Conference paper
English
Steering and Depth Control on an Underwater Robot Using Fuzzy-Like PD Controller
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