Fuzzy Control of a Three Fin Torpedo

This paper shows the development and implementation of a fuzzy rule based controller. It details the results of a computer simulation study into the controllers ability to reduce the cross-coupling effect of yaw induced roll as applicable to a three fin torpedo. The robustness of the controller is demonstrated by investigating its effectiveness for a range of torpedo parameter changes. Comparisons are made with the results obtained using a conventional controller and also a multivariable control strategy.