Fuzzy modelling and fuzzy-neuro motion control of an autonomous underwater robot

Author

Akkizidis, I.S. ; Roberts, G.N.

Author_Institution

Mechatronics Res. Centre, Univ. Coll. of Wales, Newport, UK

fYear

1998

fDate

29 Jun-1 Jul 1998

Firstpage

641

Lastpage

646

Abstract

Addresses the modelling and motion control of an autonomous underwater vehicle (AUV). Such vehicles are commonly classified as being highly nonlinear uncertain systems and are consequently difficult to control effectively using model-based control methods. The paper describes a modelling and motion control system for an AUV based on fuzzy and fuzzy neural techniques. The development of a fuzzy model and fuzzy neural motion control strategy are presented. The study is based on GARBI, a low-cost ROV. The idea is to transfer GARBI from a ROV to an AUV

Keywords

fuzzy control; fuzzy systems; mobile robots; motion control; neurocontrollers; nonlinear control systems; uncertain systems; underwater vehicles; GARBI; autonomous underwater robot; fuzzy modelling; fuzzy-neuro motion control; highly nonlinear uncertain systems; low-cost ROV; model-based control methods; Fuzzy control; Fuzzy logic; Fuzzy systems; Humans; Mathematical model; Motion control; Nonlinear control systems; Remotely operated vehicles; Robots; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on

Conference_Location

Coimbra

Print_ISBN

0-7803-4484-7

Type

conf

DOI

10.1109/AMC.1998.743614

Filename

743614