Model-Based Fuzzy Modeling and Control for Autonomous Underwater Vehicles in the Horizontal Plane

Authors

Wen-Jer Chang, Proferrors, Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan 202, R.O.C.Follow
Wei Chang, Student, Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan 202, R.O.C.
Hsien-Hsueh Liu, Student, Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan 202, R.O.C.

Abstract

In this paper, the modeling and control of nonlinear Autonomous Underwater Vehicle (AUV) system is considered by using a TakagiSugeno (T − S) type fuzzy model. Applying the AUV T − S fuzzy model, one can develop a model-based fuzzy controller design utilizing the concept of Parallel Distributed Compensation (PDC). The main idea of the controller design approach is to derive each control rule so as to compensate each rule of a fuzzy system. The design procedure is conceptually simple and natural. Finally, the responses of states of AUV dynamic real system and AUV dynamic T − S fuzzy model will be shown in the simulation.

Recommended Citation

Chang, Wen-Jer; Chang, Wei; and Liu, Hsien-Hsueh (2003) "Model-Based Fuzzy Modeling and Control for Autonomous Underwater Vehicles in the Horizontal Plane," Journal of Marine Science and Technology: Vol. 11: Iss. 3, Article 4.
DOI: 10.51400/2709-6998.2276
Available at: https://jmstt.ntou.edu.tw/journal/vol11/iss3/4