Automatic design and optimization of fuzzy logic controllers for an autonomous underwater vehicle

This paper applies a novel controller automatic optimization algorithm called Incremental Best Estimate Directed Search (IBEDS) algorithm with a 6 Degree of Freedom (DOF) Ocean Explorer (OEX) series Autonomous Underwater Vehicles (AUV) model for the optimization of a fuzzy logic pitch controller and a fuzzy logic heading controller. The IBEDS optimized fuzzy logic pitch and heading controllers are compared with the sliding mode fuzzy pitch and heading controllers that were developed by experts and are currently being used on OEX series AUVs. The simulation results reveal that the performance of the IBEDS optimized controllers are comparable with the expert designed controllers, thus make IBEDS preferable for AUV controller automatic design and optimization as the controller development cycle is significantly reduced by IBEDS