Controlling Chaos for BLDC Thruster Motor in Deepwater Robot Based on Fuzzy Control

The method of solving the time-delayed parameter difficult choice in controlling chaos was proposed in this paper. The fuzzy control method was applied into chaotic control by time-delayed feedback. The quadrature-axis stator voltage was used as the manipulated variable. The input of the fuzzy controller was the system error. Fuzzy controller searched the optimum time parameter according to the error. When received the suitable parameter, the brushless direct current thruster motor of deepwater robot became a controlled system from chaotic state to a regular motion by using time-delay feedback control. The thruster motor stabilized at a predetermined orbit, which limited in a definite error, by automatic tracing set-value of exterior. Applying the analysis results, the fuzzy controller is designed. The control results are researched by simulation method. The simulation results show that the control method is feasible and the control result is satisfied.