This paper considers the development of three autopilots for controlling the yaw responses of an autonomous underwater vehicle model. The autopilot designs are based on the adaptive network-based fuzzy inference system (ANFIS), a simulated annealing-tuned control algorithm and a traditional proportional-derivative controller. In addition, each autopilot is integrated with a line-of-sight (LOS) guidance system to test its effectiveness in steering round a series of waypoints with and without the presence of sea current disturbance. Simulation results are presented that show the overall superiority of the ANFIS approach.
Intelligent steering control of an autonomous underwater vehicle
The Journal of Navigation ; 53 , 3 ; 511-525
2000
15 Seiten, 10 Quellen
Article (Journal)
English
Intelligent Steering Control of an Autonomous Underwater Vehicle
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