A comparison of classical, neural and fuzzy control schemes for the position control of an underwater vehicle
Date
2006ISSN
1109-2777Source
WSEAS Transactions on SystemsVolume
5Issue
7Pages
1671-1678Google Scholar check
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A comparative study for the automatic control of an underwater vehicle has been conducted. The vessel was equipped with only three thrusters (one on top, a second at port and a third at starboard) for the control of its position, a condition that made the problem very difficult to tackle. Furthermore, the system is highly non-linear. A control system has been simulated for the regulation of the marine thrusters so that they stabilize the vehicle at a desired position, irrespective of external disturbances. The dynamical equations of a model of the vessel, when disturbed by cable forces and manipulated by the thrust forces that are generated by the propellers are described. The various vehicle parameters needed to describe its dynamic behaviour (mass, center of mass, added coefficients) have been estimated. The control schemes that were implemented are the classical PID, a neural control system, and a fuzzy control. It was found that a combination of classical and intelligent control gave the best results.
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