Fuzzy S plane controller for motion control of underwater vehicles

Autonomous Underwater Vehicle (AUV) has a strong-coupling nonlinear motion system. Thus, nonlinearity must be considered in the design of AUV´ control system. And the control method which is independent of model must be taken into account, too. Fuzzy S plane controller was adopted to solve the motion control problem under various velocities in the paper. Fuzzy control principle was used to adjust parameters of classical S plane controller on line. Therefore, AUV could adapt itself to environments under various velocities. Simulation experiments were carried out. The result showed that the fuzzy S plane controller had smaller overshoot and shorter response time than the classical one. Thus, the fuzzy one could ensure robustness and improve control performance of AUV.