Heading Control of an AUV Based on Mamdani Fuzzy Inference

DOI

10.2991/ameii-15.2015.258How to use a DOI?

Keywords

autonomous underwater vehicle (AUV); heading control; fuzzy control technology; Mamdani Fuzzy Inference(MFI); Gaussian membership function.

Abstract

A class of autonomous underwater vehicle (AUV) heading control problem is addressed in this paper based on Mamdani Fuzzy Inference (MFI). Firstly, empirical knowledge of heading control for ship from experienced captain is fuzzed into fuzzy control rules, which can be identified by computer, using fuzzy set theory. Secondly, output of the controller is derived by calculating the excitation of system input to the control rules, combing with the application of multi-input-multi-rule MFI. Thirdly, robust adaptive heading controller for AUV is designed incorporating the distributing characteristics of Gaussian membership function, in order to overcome randomness and uncertainty of the external environment disturbances on AUV. At last, simulation experiment is carried out to verify the effectiveness and superiority of the controller designed.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Zaopeng Dong
AU  - Lei Wan
AU  - Tao Liu
AU  - Jiayuan Zhuang
PY  - 2015/04
DA  - 2015/04
TI  - Heading Control of an AUV Based on Mamdani Fuzzy Inference
BT  - Proceedings of the International Conference on Advances in Mechanical Engineering and Industrial Informatics
PB  - Atlantis Press
SP  - 1402
EP  - 1407
SN  - 2352-5401
UR  - https://doi.org/10.2991/ameii-15.2015.258
DO  - 10.2991/ameii-15.2015.258
ID  - Dong2015/04
ER  -