Title :
The nonlinear control using fuzzy logic for spinning underwater vehicle
Author :
Li Baoquan ; Keqiang, Hua
Author_Institution :
Dept. of Autom. Control, Harbin Eng. Univ., China
Abstract :
The paper discusses a new type of spinning underwater vehicle, whose control thrusters were reduced as least as possible. The paper reports on some research into methods and schemes of control systems based on analyzing the dynamic characteristics of the vehicle, and presents a plan of nonlinear PD controller using fuzzy logic inference for vehicle movement. The result of simulation indicates that the control system has good behaviour for trace following and decoupling
Keywords :
fuzzy control; fuzzy set theory; inference mechanisms; marine systems; mobile robots; nonlinear control systems; two-term control; uncertainty handling; vehicles; control systems; control thrusters; decoupling; dynamic characteristics; fuzzy logic; fuzzy logic inference; nonlinear PD controller; nonlinear control; simulation; spinning underwater vehicle; trace following; vehicle movement; Automatic control; Automotive engineering; Cities and towns; Control systems; Fuzzy logic; Nonlinear control systems; Partial response channels; Spinning; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.672770
