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Fuzzy gain scheduling based optimally tuned PID controllers for an unmanned underwater vehicle

journal contribution
posted on 2023-05-18, 02:18 authored by Makavita, CD, Hung NguyenHung Nguyen, Susantha RanmuthugalaSusantha Ranmuthugala
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

History

Publication title

International journal of conceptions on electronics and communication engineering

Pagination

7 - 13

ISSN

2357-2809

Department/School

Australian Maritime College

Publisher

World academic - industry research collaboration organization

Place of publication

online

Rights statement

Copyright 2014 WAIRCO

Repository Status

  • Restricted

Socio-economic Objectives

Expanding knowledge in engineering

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