Using of soft computing techniques to control of self-propelled mine counter charge

A semiautomatic control system to steering a torpedo-shaped remotely operated vehicle is considered in the paper. Two independent controllers with fuzzy control law implemented are used to generate command signals assuring desired orientation of the vehicle in an underwater space. Input variables fuzzification, a base of rules, and an output set defuzzification are described. Parameters of membership functions of input and output are tuned with applying the genetic algorithms. Quality of control is tested for different velocities in surge motion. Some computer simulations are provided to demonstrate the effectiveness, correctness and robustness of the approach.