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Fuzzy gain scheduling based optimally tuned PID controllers for an unmanned underwater vehicle
Citation
Makavita, CD and Nguyen, H and Ranmuthugala, D, Fuzzy gain scheduling based optimally tuned PID controllers for an unmanned underwater vehicle, International journal of conceptions on electronics and communication engineering, 2, (1) pp. 7 - 13. ISSN 2357-2809 (2014) [Refereed Article]
Copyright Statement
Copyright 2014 WAIRCO
Official URL: http://www.worldairco.org/Journals.html
Abstract
Controlling the motion of an unmanned underwater
vehicle is a challenging task due to the coupled, nonlinear six
degrees-of-freedom vehicle dynamics. This motion is exacerbated
in underactuated vehicles, as the number of actuators is less than
the number of degrees-of-freedom. In this paper a three thruster
Remotely Operated Vehicle is considered with the two horizontal
thrusters causing disturbance on the pitch, thus creating a large
coupling effect that tends to destabilize the vehicle in the vertical
plane. Optimization algorithms were used with a nonlinear model
to tune PID controllers for depth and heading control in the
presence of measurement noise. The results for the depth control
show that while the behavior is satisfactory at and around the
operating point, it deteriorates further away from that point. An
adequate response throughout the operational range is achieved
by designing multiple optimized controllers at several operating
points and gain scheduling for intermediate points. Finally a
fuzzy supervisor was designed to carry out the inferencing based
on the operating conditions and a set of rules
Item Details
Item Type: | Refereed Article |
---|---|
Research Division: | Engineering |
Research Group: | Control engineering, mechatronics and robotics |
Research Field: | Field robotics |
Objective Division: | Expanding Knowledge |
Objective Group: | Expanding knowledge |
Objective Field: | Expanding knowledge in engineering |
UTAS Author: | Makavita, CD (Mr Charita Makavita) |
UTAS Author: | Nguyen, H (Dr Hung Nguyen) |
UTAS Author: | Ranmuthugala, D (Professor Dev Ranmuthugala) |
ID Code: | 93370 |
Year Published: | 2014 |
Deposited By: | NC Maritime Engineering and Hydrodynamics |
Deposited On: | 2014-07-30 |
Last Modified: | 2015-04-02 |
Downloads: | 0 |
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