Title :
A fuzzy-PD for the position and attitude control of an underwater robot
Author :
Muscato, Giovanni ; Prestiflippo, Michele
Author_Institution :
Dipt. di Ingegneria Elettrica, Elettronica e dei Sistemi, Catania Univ.
Abstract :
This paper deals with the attitude control of an underwater robot for marine archaeology, which is being developed in the framework of the TECSIS project. The control scheme is based on the use of a fuzzy extension of a traditional PD feedback loop. The controller is implemented by using a LQG control for the linearized system, where the attitude control has been developed using quaternionic algebra. The fuzzy extension of this control is used in order to compensate the non linearities of the vehicle. The paper gives results obtained by simulating the proposed control systems in comparison with a traditional PD controller
Keywords :
PD control; attitude control; feedback; fuzzy control; linear quadratic Gaussian control; mobile robots; position control; underwater vehicles; LQG control; PD feedback loop; attitude control; fuzzy control; linearized system; marine archaeology; position control; quaternionic algebra; underwater robot; Algebra; Control system synthesis; Control systems; Fuzzy control; Linear feedback control systems; Mobile robots; Remotely operated vehicles; Robot kinematics; Underwater cables; Underwater vehicles; Fuzzy Control; Underwater robot; attitude control; quaternion algebra;
Conference_Titel :
Emerging Technologies and Factory Automation, 2005. ETFA 2005. 10th IEEE Conference on
Conference_Location :
Catania
Print_ISBN :
0-7803-9401-1
DOI :
10.1109/ETFA.2005.1612703
