Title :
Simulation and control of an autonomous underwater vehicle equipped with a vectored thruster
Author :
Le Page, Y.G. ; Holappa, K.W.
Author_Institution :
Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Abstract :
A method for designing a simulation of an autonomous underwater vehicle (AUV) equipped with a vectored thruster is given. Fuzzy sliding mode controllers are implemented and a general description is provided that will help the reader to understand the principle, comparing it with a standard PID controller. Results obtained by numerical simulation are given
Keywords :
fuzzy control; mobile robots; position control; underwater vehicles; variable structure systems; autonomous underwater vehicle; fuzzy sliding mode controllers; standard PID controller; vectored thruster; Control systems; Fuzzy control; Hydrodynamics; Nonlinear control systems; Oceans; Sliding mode control; Stability; Tail; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
OCEANS 2000 MTS/IEEE Conference and Exhibition
Conference_Location :
Providence, RI
Print_ISBN :
0-7803-6551-8
DOI :
10.1109/OCEANS.2000.882249
