Title :
A new model of fuzzy CMAC network with application to the motion control of AUV
Author :
Shi, Xiaocheng ; Xiong, Huashen ; Wang, Chunguo ; Chang, Zonghu
Author_Institution :
Coll. of Power & Nucl. Eng., Harbin Eng. Univ., China
fDate :
29 July-1 Aug. 2005
Abstract :
The control of autonomous underwater vehicles (AUV) presents a number of unique and formidable challenges. AUV dynamics is highly nonlinear, coupled, time varying and subject to hydrodynamic uncertainties and external disturbances such as current. In this paper, we presented a new type of controller for AUV motion control based on fuzzy cerebella model articulation controller (FCMAC). A nonlinear six degree-of-freedom equation of AUV motion was derived. The application of the designed FCMAC controller to AUV motion control was discussed and the simulation results shown that this algorithm possessed better dynamic performance and robustness than conventional PID strategy.
Keywords :
cerebellar model arithmetic computers; fuzzy control; fuzzy neural nets; mobile robots; motion control; neurocontrollers; remotely operated vehicles; robust control; underwater vehicles; AUV dynamics; FCMAC controller; PID strategy; autonomous underwater vehicles; depth control; fuzzy CMAC network; fuzzy cerebella model articulation controller; heading control; hydrodynamic uncertainty; motion control; Algorithm design and analysis; Couplings; Fuzzy control; Heuristic algorithms; Hydrodynamics; Motion control; Nonlinear equations; Uncertainty; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626901
