Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

ABSTRACT: In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID.

SUBMITTER: Hammad MM 

PROVIDER: S-EPMC5500310 | biostudies-literature | 2017

REPOSITORIES: biostudies-literature