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Fuzzy logic for depth control
of Unmanned Undersea Vehicles
DeBitetto,
P.A.
Charles
Stark Draper Lab. Inc., Cambridge, MA;
This paper appears in: Oceanic
Engineering, IEEE Journal of
On page(s): 242-248
Volume: 20, Jul
1995
ISSN:
0364-9059
CODEN:
IJOEDY
INSPEC Accession
Number: 5013159
Abstract:
Fuzzy logic is a viable control strategy
for depth control of undersea vehicles. It has been applied to
the low speed ballast control problem for ARPA's Unmanned
Undersea Vehicle (UUV), designed and built by Draper
Laboratory. A fuzzy logic controller has been designed and
tested in simulation that issues pump commands to effect
changes in the UUV depth, while also regulating the pitch
angle of the vehicle. The fuzzy logic controller performs
comparably to the current ballast control design. The
controller is also less sensitive to variations in the vehicle
configuration and dynamics. The benefits of the fuzzy logic
approach for this problem are: 1) simplicity, by not requiring
a dynamic model, thus allowing for rapid development of a
working design and less sensitivity to plant variations; 2)
better matching of the control strategy and complexity with
performance objectives and limitations; 3) the insight
provided and easy modification of the controller, through the
use of linguistic rules
Index Terms:
Kalman
filters control system
synthesis fuzzy
control fuzzy
logic knowledge based
systems marine
systems position
control
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