The nonlinear control using fuzzy logic for spinning underwater vehicle

Author

Li Baoquan ; Keqiang, Hua

Author_Institution

Dept. of Autom. Control, Harbin Eng. Univ., China

Volume

1

fYear

1997

fDate

28-31 Oct 1997

Firstpage

223

Abstract

The paper discusses a new type of spinning underwater vehicle, whose control thrusters were reduced as least as possible. The paper reports on some research into methods and schemes of control systems based on analyzing the dynamic characteristics of the vehicle, and presents a plan of nonlinear PD controller using fuzzy logic inference for vehicle movement. The result of simulation indicates that the control system has good behaviour for trace following and decoupling

Keywords

fuzzy control; fuzzy set theory; inference mechanisms; marine systems; mobile robots; nonlinear control systems; two-term control; uncertainty handling; vehicles; control systems; control thrusters; decoupling; dynamic characteristics; fuzzy logic; fuzzy logic inference; nonlinear PD controller; nonlinear control; simulation; spinning underwater vehicle; trace following; vehicle movement; Automatic control; Automotive engineering; Cities and towns; Control systems; Fuzzy logic; Nonlinear control systems; Partial response channels; Spinning; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-4253-4

Type

conf

DOI

10.1109/ICIPS.1997.672770

Filename

672770