An introduction to fuzzy control
An introduction to fuzzy control
Essentials of fuzzy modeling and control
Essentials of fuzzy modeling and control
Genetic Algorithms Plus Data Structures Equals Evolution Programs
Genetic Algorithms Plus Data Structures Equals Evolution Programs
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The paper deals with synthesis of automatic control system for an undersea robotic vehicle. Command signals are generated by an autopilot consisting of three fuzzy controllers. A horizontal motion is regarded and the way-point line of sight scheme is incorporated to following a desired path. A method of power distribution in a multi-thruster propulsion system of the undersea robot is also presented. It concentrates on finding an optimal thrust allocation and directs towards minimisation of energy expenditures necessary to obtain required control. An illustrative example is provided to demonstrate correctness and quality of the approach.