Application of Fuzzy Theory to the Motion Control of Small Unmanned Underwater Vehicles

• Main Authors: Jheng, Kai-Yi, 鄭凱輿
• Other Authors: Lin,Tsung-Ying
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/tam62k

碩士 === 國防大學理工學院 === 機械工程碩士班 === 106 === AUV (Autonomous Underwater Vehicle) and ROV (Remotely Operated Vehicle) are unmanned underwater vehicles that are widely used for marine environment detection. Therefore, the motion control of unmanned underwater vehicle is an important issue. However, it is difficult to establish an accurate environmental model in underwater environments, so the traditional control method is not suitable for the control of underwater unmanned vehicles. This study uses SeaLion2 ROV as an experimental platform and a fuzzy logic controller to solve the nonlinear and uncertain problems which are difficult to handle by the traditional control theory. The vehicle can have a better control stability in the underwater environment. In terms of sensor construction, the depth and attitude information are used to be input value for fuzzy controller, that obtained from depth meter and inertial navigation device. For the fuzzy logic controller, LabVIEW Fuzzy System Designer is used to define the membership functions and the control rules, and the LabVIEW control interface is used to integrate and output the fuzzy controller results to the ROV to control the vertical (depth) and horizontal (heading) movement. The ROV can adjust the motor power output in response to environmental changes, to achieve a more ideal and more advantageous control.