A new model of fuzzy CMAC network with application to the motion control of AUV

Author

Shi, Xiaocheng ; Xiong, Huashen ; Wang, Chunguo ; Chang, Zonghu

Author_Institution

Coll. of Power & Nucl. Eng., Harbin Eng. Univ., China

Volume

4

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

2173

Abstract

The control of autonomous underwater vehicles (AUV) presents a number of unique and formidable challenges. AUV dynamics is highly nonlinear, coupled, time varying and subject to hydrodynamic uncertainties and external disturbances such as current. In this paper, we presented a new type of controller for AUV motion control based on fuzzy cerebella model articulation controller (FCMAC). A nonlinear six degree-of-freedom equation of AUV motion was derived. The application of the designed FCMAC controller to AUV motion control was discussed and the simulation results shown that this algorithm possessed better dynamic performance and robustness than conventional PID strategy.

Keywords

cerebellar model arithmetic computers; fuzzy control; fuzzy neural nets; mobile robots; motion control; neurocontrollers; remotely operated vehicles; robust control; underwater vehicles; AUV dynamics; FCMAC controller; PID strategy; autonomous underwater vehicles; depth control; fuzzy CMAC network; fuzzy cerebella model articulation controller; heading control; hydrodynamic uncertainty; motion control; Algorithm design and analysis; Couplings; Fuzzy control; Heuristic algorithms; Hydrodynamics; Motion control; Nonlinear equations; Uncertainty; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626901

Filename

1626901