This paper presents an adaptive fuzzy logic controller for the Variable Buoyancy System (VBS) of an Autonomous Underwater Vehicle (AUV). The control structure includes a fuzzy Large Range Depth Controller (LRDC) and a fuzzy Small Range Depth Controller (SRDC). The depth controllers bring the AUV to a desired depth by decreasing buoyancy, then descending to the desired depth and then restoring neutral buoyancy. Fuzzy rules adaptively determine the critical depth points for ballast adjustment based on a key parameter of the AUV dynamic model. This paper gives an explanation of fuzzy rule base for the LRDC and presents robust simulation results of the LRDC and SRDC.


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    Title :

    Adaptive fuzzy logic depth controller for variable buoyancy system of autonomous underwater vehicles


    Additional title:

    Adaptiver Fuzzy-Logik-Tiefenregler eines variablen Auftriebsystems für autonome Unterwasserfahrzeuge


    Contributors:
    Min Xu (author) / Smith, S.M. (author)


    Publication date :

    1994


    Size :

    6 Seiten, 8 Bilder, 1 Tabelle, 6 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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