Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties
Anton Zhilenkov, Sergei Chernyi, Andrey Firsov
Abstract
The paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion autonomous underwater vehicle is designed. The quality of control for step control, harmonic control, as well as various types of exogenous disturbances, is investigated. The comparison of the functioning quality of the designed fuzzy controller with the proportional–derivative controller is made. It is shown that the designed fuzzy controller provides a higher quality of control compared to the proportional–derivative controller. The proposed fuzzy controller provides high-quality control of the plant under uncertainties.