Stability of the PD-neuro-fuzzy control system of the underwater vehicle Krab II

For control of nonlinear sea plants such as ships and underwater vehicles nonlinear controllers based on artificial intelligence (fussy, neural, and neurofiizzy) are often introduced. They give a high control quality. Alas, it is very difficult or impossible to prove the stability for real systems with these controllers. Because technical regulations in many countries require stability proof before installation of a controller in the real system, implementation of intelligent controllers in the practice is strongly hampered. This paper presents a special version of the hyperstability method which allows stability checking of underwater vehicles and ships control systems at relatively small expenditure of work, the method was applied to the digital control system of the UV Krab II.