Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties
The paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion autonomous underwater vehicle is designed. The quality of control for step cont...
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2021-03-01
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doaj-1d84c4e7d05944b280142e7071c645e22021-03-24T00:03:04ZengMDPI AGDesigns2411-96602021-03-015242410.3390/designs5010024Autonomous Underwater Robot Fuzzy Motion Control System with Parametric UncertaintiesAnton Zhilenkov0Sergei Chernyi1Andrey Firsov2Department of Cyber-Physical Systems, St. Petersburg State Marine Technical University, 190121 Saint-Petersburg, RussiaDepartment of Cyber-Physical Systems, St. Petersburg State Marine Technical University, 190121 Saint-Petersburg, RussiaGraduate School of Cyber-Physical Systems and Control, Peter the Great St. Petersburg Polytechnic University, 194064 Saint-Petersburg, RussiaThe paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion autonomous underwater vehicle is designed. The quality of control for step control, harmonic control, as well as various types of exogenous disturbances, is investigated. The comparison of the functioning quality of the designed fuzzy controller with the proportional–derivative controller is made. It is shown that the designed fuzzy controller provides a higher quality of control compared to the proportional–derivative controller. The proposed fuzzy controller provides high-quality control of the plant under uncertainties.https://www.mdpi.com/2411-9660/5/1/24roboticsunderwatercontrolAUVmaritime |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Anton Zhilenkov Sergei Chernyi Andrey Firsov |
spellingShingle |
Anton Zhilenkov Sergei Chernyi Andrey Firsov Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties Designs robotics underwater control AUV maritime |
author_facet |
Anton Zhilenkov Sergei Chernyi Andrey Firsov |
author_sort |
Anton Zhilenkov |
title |
Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties |
title_short |
Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties |
title_full |
Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties |
title_fullStr |
Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties |
title_full_unstemmed |
Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties |
title_sort |
autonomous underwater robot fuzzy motion control system with parametric uncertainties |
publisher |
MDPI AG |
series |
Designs |
issn |
2411-9660 |
publishDate |
2021-03-01 |
description |
The paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion autonomous underwater vehicle is designed. The quality of control for step control, harmonic control, as well as various types of exogenous disturbances, is investigated. The comparison of the functioning quality of the designed fuzzy controller with the proportional–derivative controller is made. It is shown that the designed fuzzy controller provides a higher quality of control compared to the proportional–derivative controller. The proposed fuzzy controller provides high-quality control of the plant under uncertainties. |
topic |
robotics underwater control AUV maritime |
url |
https://www.mdpi.com/2411-9660/5/1/24 |
work_keys_str_mv |
AT antonzhilenkov autonomousunderwaterrobotfuzzymotioncontrolsystemwithparametricuncertainties AT sergeichernyi autonomousunderwaterrobotfuzzymotioncontrolsystemwithparametricuncertainties AT andreyfirsov autonomousunderwaterrobotfuzzymotioncontrolsystemwithparametricuncertainties |
_version_ |
1724205453764722688 |