Kinematical control of motion of underwater vehicle in horizontal plane

• Autorzy: Garus J.
• Języki publikacji: EN

Abstrakty

EN

In the paper presented is a method of designing a fuzzy-logic-based autopilot for controlof horizontal motion of an unmanned underwater vehicle. The control system's synthesiswas performed under the assumption that the vehicle can move with variable linear andangular velocities and the quantities possible to be measured are : position and orienta-tion of the vehicle in the inertial reference system. The task of the autopilot was to minimi-ze the mean squares of deviations from the motion trajectory given in the form of a brokenline defined by the coordinates of successive turning points. To generate control signalsthree independent fuzzy PD controllers using the control principles based on the Mac Vicar-Whelan-sstandard base, were applied. For the linguistic variables of each controller appropriate fuzzy sets wereselected and linear membership functions of trapezoidal and triangular form were defined. The presentedresults of the simulation tests performed for the remotely operated underwater vehicle "Ukwiał", withand without influence of disturbances resulting from sea current, confirm the proposed approach to becorrect and effective

• Wydawca: -
• Czasopismo: Polish Maritime Research
• Rocznik: 2004
• Tom: 11
• Numer: 2
• Opis fizyczny: p.27-31,fig.,ref.

Twórcy

autor

Garus J.

• Department of Mechanical and Electrical Engineering, Naval University, Smidowicza 69, 81-103 Gdynia, Poland

Bibliografia

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