A study of tuning process of fuzzy logic controller output membership function for AUV-pitch control

摘要

This paper explains the study of the tuning process for fuzzy logic controller (FLC) design of an Autonomous Underwater Vehicle (AUV) for pitch-axis control. There is no systematic technique to tune the FLC to achieve a desired set point. The trial and error method is the common approach used in the tuning process of fuzzy logic controller until a satisfactory result is obtained and the performance of the system can be analyzed. The tuning process is made either to the number of fuzzy partitions or the mapping of the membership function so that the results can follow the desired set point and for this case in AUV-pitch control. This paper presents a faster tuning process by altering the mapping of the membership function to get satisfactory output. The algorithm was verified in MATLAB? Simulink platform and compare with the conventional PID controller. The FLC controller is more accurate and better than the PID controller.