NDLI: Fuzzy logic based depth control of an autonomous underwater vehicle

Content Provider	IEEE Xplore Digital Library
Author	Nag, A. Patel, S.S. Akbar, S.A.
Copyright Year	2013
Description	Author affiliation: Sci. (Electron. Syst.), CEERI, Pilani, India (Akbar, S.A.) \|\| Sch. Of Instrum., Devi Ahilya Vishwavidyalaya, Indore, India (Patel, S.S.) \|\| Sch. of Mechatron., BESU, Howrah, India (Nag, A.)
Abstract	This paper presents an adaptive fuzzy logic based controller for the depth control of an Autonomous Underwater Vehicle(AUV). The kinematic and dynamic motion of an AUV is described using six degree of freedom differential equations of motion using bodyand earth-fixed frame of references. Due to hydrodynamic forces, these equations are complex, non-linear and highly coupled therefore are impractical for use in controller design. In practice, system is commonly decomposed into three non-interactive systems such as diving subsystem, steering subsystem and speed subsystem. In this study a reduced order model was derived for diving system using depth plane dynamics and a suitable dual loop control strategy is formulated by synthesizing fuzzy logic based control in series with a phase lead dynamic compensator to achieve the desired set point tracking and reasonably good performance objectives under variety of disturbances encountered in oceanic environments. The obvious benefits of this type of approach lies in the simplicity of the scheme compared to the conventional deterministic systems and easy implementation for real time control of the Autonomous Underwater Vehicles. The proposed fuzzy logic based controller accepts deterministic information, the depth of the vehicle as input and achieves imprecise reasoning and de-fuzzification to generate a deterministic control output which manipulates the pitch angle and hence the depth of the vehicle. The simulated results clearly demonstrate the efficacy of this approach as compared to the conventional PID controller designed and tuned using Ziegler-Nichols scheme.
Sponsorship	IEEE Kerala Sect.
Starting Page	117
Ending Page	123
File Size	2295389
Page Count	7
File Format	PDF
ISBN	9781467350891
e-ISBN	9781467350907
DOI	10.1109/iMac4s.2013.6526393
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-22
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Depth control Proportional-Integral-Derivative (PID) controller Center of mass(COM) Fuzzy Logic Controller PD control Vehicle dynamics Underwater vehicles Equations Vehicles Fuzzy logic Phase Lead Compensator Autonomous Underwater Vehicle Six Degrees of Freedom Mathematical model
Content Type	Text
Resource Type	Article

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