Fuzzy control of an unmanned underwater vehicle

Due to the expanded use of unmanned underwater vehicles, there is a controller that can be a satisfying performance throughout the mission has gained importance. Due to nonlinear dynamics and time varying unmanned underwater vehicle with six degrees of freedom, the fuzzy controller is used for simulation purposes. Fuzzy control rules are based on human knowledge and are expressed in descriptive language, thus, the design complexity reducedand thus controller can better adapt itself with unpredictable uncertainty Such as sea currents or the effect of noise on the sensors which influence on unmanned underwater vehicle performance. Simulation results also show that despite the uncertainty fuzzy controller can trace command routes incoming yaw, pitch and roll in a good way

کلیدواژه ها:

Nonlinear model ، Fuzzy controller ، Unmanned underwater vehicle