PID like fuzzy logic control of an Unmanned Underwater Vehicle

摘要

Recently, Applications of Unmanned Underwater Vehicles (UUVs) in coastal, offshore, petroleum and military industries are widely increased. So, design of controllers which can satisfy performance throughout the mission is really important. In this purpose, according to nonlinear and time varying dynamics of an UUV with six degree of freedom, we suggest new PID like fuzzy logic controller which can cover desired control objects in roll, pitch and yaw angles. In this case because of using linguistic rules which are based on human knowledge, designed fuzzy controllers have good simplicity and reliability. Then complexity reduced and also controller can better adapt itself with unpredictable uncertainty such as sea currents or the effect of noise on the sensors which influence on UUV performance. As Simulation results show despite of existence uncertainties, suitable commands tracking in yaw, pitch and roll angles achieved by designed PID like fuzzy controller. Also for implementation fuzzy part of designed controller we use regression analysis which is one of the best as implementation method.