Title :
Design of AUV height control based on Adaptive Neuro-Fuzzy Inference System
Author :
Shi, Xiaocheng ; Chen, Jiang ; Yan, Zheping ; Li, Tao
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
This paper studies the applications of Adaptive Neuro-Fuzzy Inference Systems(ANFIS) in the Autonomous Underwater Vehicle(AUV) height control system. A control method of ANFIS is mentioned after absorbing the advantages of fuzzy logic and neural network. According to the data fedback by sensors, this method can get the needed fuzzy membership functions and fuzzy rules by self-study, which composes the control system containing better performance than single neuro network system or single fuzzy system. Use the designed AUV height controller to complete the simulation experiments when AUV receives different height instructions on seafloor. The simulation experiments show that the controller has obvious effect in eliminating uncertainty, serious non-linearity and external interference. It possesses good dynamic performance and strong robustness.
Keywords :
adaptive systems; fuzzy logic; neurocontrollers; remotely operated vehicles; underwater vehicles; AUV height control; adaptive neuro fuzzy inference system; autonomous underwater vehicle height control system; fuzzy logic; fuzzy membership functions; neural network; single neuro network system; Adaptive control; Adaptive systems; Control systems; Fuzzy control; Fuzzy logic; Fuzzy neural networks; Fuzzy systems; Neural networks; Programmable control; Sensor systems; Adaptive Neuro-Fuzzy Inference Systems; autonomous underwater vehicle; height control;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512245
