A fuzzy-PD for the position and attitude control of an underwater robot

Author

Muscato, Giovanni ; Prestiflippo, Michele

Author_Institution

Dipt. di Ingegneria Elettrica, Elettronica e dei Sistemi, Catania Univ.

Volume

2

fYear

2005

fDate

19-22 Sept. 2005

Lastpage

383

Abstract

This paper deals with the attitude control of an underwater robot for marine archaeology, which is being developed in the framework of the TECSIS project. The control scheme is based on the use of a fuzzy extension of a traditional PD feedback loop. The controller is implemented by using a LQG control for the linearized system, where the attitude control has been developed using quaternionic algebra. The fuzzy extension of this control is used in order to compensate the non linearities of the vehicle. The paper gives results obtained by simulating the proposed control systems in comparison with a traditional PD controller

Keywords

PD control; attitude control; feedback; fuzzy control; linear quadratic Gaussian control; mobile robots; position control; underwater vehicles; LQG control; PD feedback loop; attitude control; fuzzy control; linearized system; marine archaeology; position control; quaternionic algebra; underwater robot; Algebra; Control system synthesis; Control systems; Fuzzy control; Linear feedback control systems; Mobile robots; Remotely operated vehicles; Robot kinematics; Underwater cables; Underwater vehicles; Fuzzy Control; Underwater robot; attitude control; quaternion algebra;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 2005. ETFA 2005. 10th IEEE Conference on

Conference_Location

Catania

Print_ISBN

0-7803-9401-1

Type

conf

DOI

10.1109/ETFA.2005.1612703

Filename

1612703