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Informatsionnye Tekhnologii i Vychslitel'nye Sistemy, 2021, Issue 1, Pages 50–57
DOI: https://doi.org/10.14357/20718632210106 (Mi itvs719) 		 
CONTROL AND DECISION MAKING

Autonomous underwater robot fuzzy motion control system for operation under parametric uncertainties

A. A. Zhilenkova, S. G. Chernyab, A. Firsovc

a St. Petersburg State Marine Technical University, St. Petersburg, Russia
b Kerch State Maritime Technological University, Kerch, Russia
c Peter the Great St. Petersburg Polytechnic University, St. Petersburg, Russia
Full-text PDF (674 kB)
DOI: https://doi.org/10.14357/20718632210106
Abstract: The paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion AUV is designed. The quality of control for step control, harmonic control, as well as various types of exogenous disturbances is investigated. The comparison of the functioning quality of the designed fuzzy controller with the PD controller is made. It is shown that the designed fuzzy controller provides a higher quality of control compared to the PD controller. The proposed fuzzy controller provides high quality control of the plant under uncertainties.
Keywords: maritime, controller, fuzzy, AUV, function.
Bibliographic databases:
Document Type: Article
Language: English
Citation: A. A. Zhilenkov, S. G. Cherny, A. Firsov, “Autonomous underwater robot fuzzy motion control system for operation under parametric uncertainties”, Informatsionnye Tekhnologii i Vychslitel'nye Sistemy, 2021, no. 1, 50–57
Citation in format AMSBIB
\Bibitem{ZhiCheFir21}
\by A.~A.~Zhilenkov, S.~G.~Cherny, A.~Firsov
\paper Autonomous underwater robot fuzzy motion control system for operation under parametric uncertainties
\jour Informatsionnye Tekhnologii i Vychslitel'nye Sistemy
\yr 2021
\issue 1
\pages 50--57
\mathnet{http://mi.mathnet.ru/itvs719}
\crossref{https://doi.org/10.14357/20718632210106}
\elib{https://elibrary.ru/item.asp?id=45604919}
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