Implementation of Fuzzy Logic Method for Lifting Control System on Autonomous Underwater Vehicles

摘要

The AUV navication system can move autonomously in water using various methods. the implementation of lifting control system at AUV is needed to maintain the stability of the AUV when lifting under water. In this paper, the lifting process of AUV uses the fuzzy method. The fuzzy method is used for rule-based decision-making in solving problems, which are made in simulation on the program. AUV has 2 sonar sensors, which are located on the front and the part is located at the rear. Sonar sensors are useful for knowing there are obstacles under AUV. Furthermore, the input will be processed into the microcontroller using the fuzzy method and the output of the microcontroller will produce a PWM value that will regulate the speed of the motor. The distance of the sensor testing starts from 30 cm which is a minimum distance of up to 150 cm which is the maximum distance, with 25 rule bases. the results obtained are in accordance with the system designed.