International Journal of Ocean System Engineering

Korean Society of Ocean Engineers (한국해양공학회)
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Design of Fuzzy PD Depth Controller for an AUV

  • Loc, Mai Ba (Department of Mechanical and Energy System Engineering, Busan, Korea Maritime University) ;
  • Choi, Hyeung-Sik (Department of Mechanical and Energy System Engineering, Busan, Korea Maritime University) ;
  • Kim, Joon-Young (Division of Marine Equipment Engineering, Korea Maritime University) ;
  • Kim, Yong-Hwan (College of Maritime Military, Korea Maritime University) ;
  • Murakami, Ri-Ichi (Department of Mechanical Engineering, The University of Tokushima)
  • Received : 2012.12.12
  • Accepted : 2013.02.05
  • Published : 2013.02.28
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Abstract

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the KAUV-1 uses a mass shifter mechanism to change its center of gravity, consequently, can control pitch angle and depth of the vehicle. A design of classical PD depth controller for the KAUV-1 was presented and analyzed. However, it has inherent drawback of gains, which is their values are fixed. Meanwhile, in different operation modes, vehicle dynamics might have different effects on the behavior of the vehicle. In this reason, control gains need to be appropriately changed according to vehicle operating states for better performance. This paper presents a self-tuning gain for depth controller using the fuzzy logic method which is based on the classical PD controller. The self-tuning gains are outputs of fuzzy logic blocks. The performance of the self-tuning gain controller is simulated using Matlab/Simulink and is compared with that of the classical PD controller.

Keywords

References

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  1. Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles 2017, https://doi.org/10.1007/s40815-017-0401-3