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.


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    Title :

    Intelligent steering control of an autonomous underwater vehicle


    Contributors:
    Sutton, R. (author) / Burns, R.S. (author) / Craven, P.J. (author)

    Published in:

    The Journal of Navigation ; 53 , 3 ; 511-525


    Publication date :

    2000


    Size :

    15 Seiten, 10 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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