Micro controller-based fuzzy logic controller for a small autonomous underwater robot

摘要

Mobile systems traveling through a complex environment, lil@ underwater environments, present major dfficulties in determining accurate dynamic models. Autonomous underwater vehicle motion in these conditions requires investigation of competent control solutions that guarantee robustness against external parameter uncertainty. In this paper, a microcontroller-basedfuzzy logic controller is introduced to stabilize balancing the robot while it is movingforward. This approach is applied to one onboard microcontroller which is inside small AUV and the control system is able to meet the required robustness. The significance of this work is because of using a microcontroller with its limited amount of on-chip MM rather than using commercial computer. It is implemented along with a fuzzy PI controller as the supemisor, and evaluated through experiments. It is shown that the characteristics of the fuzzy logic, such as flexibility of the I/O selection and saturation of the outputs, provide favorable performance to the control systemfor AUVs.