Title :
Fuzzy depth control for a submersible vehicle
Author :
Ammeen, Edward S. ; Beale, Guy O.
Author_Institution :
Naval Surface Warfare Center, West Bethesda, MD, USA
Abstract :
The design of a fuzzy depth control algorithm for a submersible vehicle is presented. The equivalence of the fuzzy depth control algorithm to an existing time-varying gain, nonfuzzy control algorithm (i.e., proportional-plus-derivative) is illustrated. The stability of the closed-loop system of the submersible model and fuzzy depth controller over all allowed values of the controller is proven using approaches based on Kharitonov theory and Lyapunov theory
Keywords :
Lyapunov methods; closed loop systems; control system analysis; control system synthesis; fuzzy control; marine systems; spatial variables control; stability; Kharitonov theory; Lyapunov theory; closed-loop system; control design; control simulation; fuzzy depth control algorithm; stability; submersible model; submersible vehicle; Algorithm design and analysis; Automatic control; Control systems; Force control; Fuzzy control; Fuzzy logic; Fuzzy systems; Marine vehicles; Proportional control; Underwater vehicles;
Conference_Titel :
Industrial Electronics, 1997. ISIE '97., Proceedings of the IEEE International Symposium on
Conference_Location :
Guimaraes
Print_ISBN :
0-7803-3936-3
DOI :
10.1109/ISIE.1997.648909
