Adaptive fuzzy control of unmanned underwater vehicles

Abstract

Unmanned Underwater Vehicles (UUVs) have been playing an increasingly important role in military and civilian operations and been widely used in various applications. The main issue associated with the development and design of UUV’s is the control system design. These vehicles have nonlinear dynamics and coupling, and tend to exhibit time varying characteristics. In addition they are subject to different environmental disturbances. Successful completion of the UUV missions depends on the control provided by the autopilot unit mounted on board. These controllers need to be tuned and analysed before implementing them in real environment. In the present work, the first objective is to demonstrate the capability of adaptive network fuzzy inference system, namely ANFIS for modelling of UUVs and the second objective is to design a fuzzy controller using the ANFIS model. The input output data from the UUV are used for the ANFIS modelling. This model is used in the design and validation of the fuzzy controller and the results are compared with a conventional PID controller.