Application of Fuzzy Control to Steering of Semiautonomous Underwater Vehicle

摘要

In the paper a fuzzy control system to steering of unmanned underwater vehicle is considered. Underwater objects, which operate beneath surface of water, very often are exposed to disturbances of its movement from a sea current. In case of lack of sea current measurement devices on the board they can not counteract it by generating contrary thrust. A method of evaluation of influence of environmental disturbances for vehicle's motion is presented. The method allows partly eliminating negative influence of the sea current for vehicle's motion along predefined path. Some computer simulations are provided to demonstrate effectiveness and correctness of the approach.