Fuzzy Tracking Controller for Underwater Robotic Vehicles
نویسندگان
چکیده
A fuzzy autopilot for track-keeping control of underwater vehicles is considered. Input variables fuzzification, fuzzy rules and output set defuzzification are described. Quality of control of the fuzzy tracking controller under influence of the sea current disturbance was analysed and compared to a traditional PD controller. Some computer simulations are provided to demonstrate the effectiveness, correctness and robustness of the approach Key-Words: Underwater vehicle, Fuzzy logic, Intelligent control, Automation
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