Optimized Fuzzy Logic Yaw and Roll Control of an Autonomous Underwater Vehicle
Publish place: 2nd Joint Congress on Fuzzy and Intelligent Systems
Publish Year: 1387
نوع سند: مقاله کنفرانسی
زبان: English
View: 1,275
This Paper With 6 Page And PDF Format Ready To Download
- Certificate
- من نویسنده این مقاله هستم
این Paper در بخشهای موضوعی زیر دسته بندی شده است:
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
FJCFIS02_300
تاریخ نمایه سازی: 26 تیر 1392
Abstract:
In this study, the roll and yaw fuzzy control of an Autonomous Underwater Vehicle (AUV) will be addressed. Yaw and roll angles will be regulated using their errors and rates. The discussed AUV has four flaps at the end of the vehicle as actuators. Two rule bases and membership functionshave been chosen. Invoking the normalized steepestdescent optimization method, best values for the membership function variables are found. Finally, withcomparison of the response of the improved system in each case, the best is selected. Though the AUV is a completely nonlinear system, the simulation of the designed control system using the equations of motion shows desirable behaviour of designed fuzzy logic system.
Keywords:
Authors
B Raeisy
Fars Engineering Research Center (F.E.R.C), Shiraz, Iran
A.A Safavi
Associate Professor of Electrical Engineering Department of Shiraz University
A.R. Khayatian
Associate Professor of Electrical Engineering Department of Shiraz University