Simulation of plane motion of semiautonomous underwater vehicle

Authors:
Jerzy Garus;Józef Małecki
Affiliations:
Faculty of Mechanical and Electrical Engineering, Naval University, Poland;Faculty of Mechanical and Electrical Engineering, Naval University, Poland
Venue:
ECC'11 Proceedings of the 5th European conference on European computing conference
Year:
2011

Citing 4
Cited 0

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Application of fuzzy control to steering of semiautonomous underwater vehicle

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Abstract

The paper addresses nonlinear control of a small torpedo-shape underwater vehicle designed to detection and identification of dangerous objects located close to a sea bottom. Correct recognition of targets and collection of appropriate data depends on its precise displacement in an undersea space. Hence, a problem of its ability to move along a reference path and keep a desired orientation is regarded. A non-linear mathematical model describes the vehicle's dynamics. Command signals are generated by an autopilot with fuzzy control law implemented. A method of power distribution in a vehicle's propulsion system is also proposed. Some results of computer simulations are provided to demonstrate effectiveness, correctness and usefulness of the approach.