A comparison of classical, neural and fuzzy control for an underwater vehicle
نویسندگان
چکیده
A comparative study for the automatic control of an underwater vehicle has been conducted. The vessel had only three thrusters for the control of its position, something that made the problem very difficult. Furthermore the system is highly non-linear. A control system has been simulated for the regulation of the marine thrusters so that they stabilize the vehicle at a desired position, irrespective of external disturbances. The dynamical equations of a model of the vessel, when disturbed by cable forces and by the thrusts generated by the propellers, are described. The various vehicle parameters needed to describe its dynamics (mass, center of mass, added coefficients) have been estimated. The control schemes implemented were the classical PID, neural control, and fuzzy control. It was found that a combination of classical and intelligent control gave the best results. Key-Words: Artificial Neural Network Control, Fuzzy Control, Nonlinear Systems. Underwater Vehicle Control
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