Title :
Fuzzy modelling and fuzzy-neuro motion control of an autonomous underwater robot
Author :
Akkizidis, I.S. ; Roberts, G.N.
Author_Institution :
Mechatronics Res. Centre, Univ. Coll. of Wales, Newport, UK
fDate :
29 Jun-1 Jul 1998
Abstract :
Addresses the modelling and motion control of an autonomous underwater vehicle (AUV). Such vehicles are commonly classified as being highly nonlinear uncertain systems and are consequently difficult to control effectively using model-based control methods. The paper describes a modelling and motion control system for an AUV based on fuzzy and fuzzy neural techniques. The development of a fuzzy model and fuzzy neural motion control strategy are presented. The study is based on GARBI, a low-cost ROV. The idea is to transfer GARBI from a ROV to an AUV
Keywords :
fuzzy control; fuzzy systems; mobile robots; motion control; neurocontrollers; nonlinear control systems; uncertain systems; underwater vehicles; GARBI; autonomous underwater robot; fuzzy modelling; fuzzy-neuro motion control; highly nonlinear uncertain systems; low-cost ROV; model-based control methods; Fuzzy control; Fuzzy logic; Fuzzy systems; Humans; Mathematical model; Motion control; Nonlinear control systems; Remotely operated vehicles; Robots; Underwater vehicles;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743614
