Dr.S.A. Akbar | Central Electronics Engineering Research Institute (original) (raw)
Address: Pilani, Rajasthan, India
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National University of Sciences & Technology (NUST)
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This paper presents an adaptive fuzzy logic based controller for the depth control of an Autonomo... more This paper presents an adaptive fuzzy logic
based controller for the depth control of an Autonomous
Underwater Vehicle(AUV). The kinematic and dynamic
motion of an AUV is described using six degree of freedom
differential equations of motion using bodyand earth-fixed
frame of references. Due to hydrodynamic forces, these
equations are complex, non-linear and highly coupled
therefore are impractical for use in controller design. In
practice, system is commonly decomposed into three noninteractive
systems such as diving subsystem, steering
subsystem and speed subsystem. In this study a reduced
order model was derived for diving system using depth
plane dynamics and a suitable dual loop control strategy is
formulated by synthesizing fuzzy logic based control in
series with a phase lead dynamic compensator to achieve
the desired set point tracking and reasonably good
performance objectives under variety of disturbances
encountered in oceanic environments.The obvious benefits
of this type of approach lies in the simplicity of the scheme
compared to the conventional deterministic systems and
easy implementation for real time control of the
Autonomous Underwater Vehicles. The proposed fuzzy
logic based controller accepts deterministic information,
the depth of the vehicle as input and achieves imprecise
reasoning and de-fuzzification to generate a deterministic
control output which manipulates the pitch angle and
hence the depth of the vehicle. The simulated results
clearly demonstrate the efficacy of this approach as
compared to the conventional PID controller designed and
tuned using Ziegler-Nichols scheme.
This paper presents an adaptive fuzzy logic based controller for the depth control of an Autonomo... more This paper presents an adaptive fuzzy logic
based controller for the depth control of an Autonomous
Underwater Vehicle(AUV). The kinematic and dynamic
motion of an AUV is described using six degree of freedom
differential equations of motion using bodyand earth-fixed
frame of references. Due to hydrodynamic forces, these
equations are complex, non-linear and highly coupled
therefore are impractical for use in controller design. In
practice, system is commonly decomposed into three noninteractive
systems such as diving subsystem, steering
subsystem and speed subsystem. In this study a reduced
order model was derived for diving system using depth
plane dynamics and a suitable dual loop control strategy is
formulated by synthesizing fuzzy logic based control in
series with a phase lead dynamic compensator to achieve
the desired set point tracking and reasonably good
performance objectives under variety of disturbances
encountered in oceanic environments.The obvious benefits
of this type of approach lies in the simplicity of the scheme
compared to the conventional deterministic systems and
easy implementation for real time control of the
Autonomous Underwater Vehicles. The proposed fuzzy
logic based controller accepts deterministic information,
the depth of the vehicle as input and achieves imprecise
reasoning and de-fuzzification to generate a deterministic
control output which manipulates the pitch angle and
hence the depth of the vehicle. The simulated results
clearly demonstrate the efficacy of this approach as
compared to the conventional PID controller designed and
tuned using Ziegler-Nichols scheme.