Abstract
This paper describes a control scheme that provides an efficient way to design a Fuzzy Logic Controller (FLC) for the unmanned underwater vehicle (UUV). The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC offers significant reduction in rule inferences and simplify the tuning of control parameters. Practically it can be easily implemented by a look-up table using a low cost microprocessor due its piecewise linear control surface. To verify its effectiveness, the control algorithm is simulated using the Marine Systems Simulator (MSS) on the Matlab/Simulink® platform. The result indicates that both the SIFLC and CFLC give identical response to the same input sets. However SIFLC requires very minimum tuning effort and its execution time is in the orders of two magnitudes less than CFLC.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Goheen, K.R., Jefferys, E.R.: The application of alternative modeling techniques to ROV dynamics. IEEE Int. Conf. Robot. Autom. 2, 1302–1309 (1990)
Humphreys, D.E., Watkinson, K.W.: Hydrodynamic Stability and Control Analyses of the UNH-EAVE Autonomous Underwater Vehicle. Marine Systems Lab. Rep., Univ. of New Hamp., Durham (1982)
Abkowitz, M.A.: Stability and Motion Control of Ocean Vehicles. MIT, Cambridge (1969)
Lewis, D.J., Lipscombe, J.M., Thomasson, P.G.: The simulation of remotely operated underwater vehicles. In: Proc. ROV ’84, MTS (1984)
Yoerger, D.R., Slotine, J.J.E.: Robust trajectory control of underwater vehicles. IEEE J. Oceanic Eng. 10, 462–470 (1985)
Russel, G.T., Bugge, J.: Adaptive estimator for the automatic guidance of an unmanned submersible. Proc. Inst. Electr. Eng. 128(pt D), 223–226 (1981)
Yuh, J.: Modeling and control of underwater vehicles. IEEE Trans. Syst. Man Cybern. 20, 1475–1483 (1990)
Goheen, K.R., Jefferys, E.R., Broome, D.R.: Robust self designing controllers for underwater vehicles. J. Offshore Mech. Arct. Eng. 109, 170–178 (1987)
Yoerger, D.R., Cooke, J.G., Slotine, J.J.E.: The influence of thruster dynamics on underwater vehicle behavior and their incorporation in design. IEEE J. Oceanic Eng. 15, 167–179 (1991)
Healey, J., Lienard, D.: Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles. IEEE J. Oceanic Eng. 18(3) (1993)
Fossen, T.I., Sagatun, S.: Adaptive control of nonlinear systems a case study of underwater robotic systems. J. Robot. Syst. 8, 393412 (1991)
Yuh, J.: A neural net controller for underwater robotic vehicles. IEEE J. Oceanic Eng. 15(3), 161–166 (1990)
Wang, J.S., Lee, C.S.G., Yuh, J.: Self-adaptive neuro-fuzzy systems with fast parameter learning for autonomous underwater vehicle control. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3861–3866. San Francisco, USA (2000)
Kim, T.W., Yuh, J.: A novel neuro-fuzzy controller for autonomous underwater vehicles. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2350–2355. Seoul, Korea (2001)
Ishiii, K., Fujii, T., Ura, T.: Neural network system for on-line controller adaptation and its application to underwater robot. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 756–761 (1998)
Suh, I.H., Kim, T.W.: Fuzzy membership function based neural networks with applications to the visual servoing of robot manipulators. IEEE Trans. Fuzzy Syst. 2(3), 203–220 (1994)
Suh, I.H., Kim, T.W.: A visual servoing algorithm using fuzzy logics and fuzzy-neural networks. Mechatronics 10(1), 1–18 (2000)
DeBitetto, P.A.: Fuzzy logic for depth control of unmanned undersea vehicles. In: Proc. of AUV Symposium, pp. 233–241 (1994)
Kato, N.:Applications of fuzzy algorithm to guidance and control of underwater vehicle. In: Yuh, J. (ed.) Underwater Robotic Vehicles: Design and Control. TSI, Albuquerque (1995)
Shaw, I.S.: Fuzzy Control of Industrial Systems—Theory and Applications. Kluwer, Dordrecht (1998)
Liu, K., Lewis, F.L.: Some issues about fuzzy logic control. In: Proc. of the 32nd Conference on Decision and Control, pp. 1743–1748 (1993)
Choi, B.J., Kwak, S.W., Kim, B.K.: Design and stability analysis of single-input fuzzy logic controller. IEEE Trans. Syst. Man Cybern., Part B, Cybern. 30(2), 303–309 (2000)
Ayob, S.M., Azli, N.A., Salam, Z.: PWM DC-AC converter regulation using a multi-loop single input fuzzy PI controller. J. Power Electron. 9(1), 124–131 (2009)
Society of Naval Architects and Marine Engineers (SNAME): Nomenclature for treating the motion of a submerged body through a fluid. Tech. Res. Bull. 1–5 (1950)
Fossen, T.I.: Guidance and Control of Ocean Vehicles. Wiley, New York (1994)
Fossen, T.I., Perez, T.: Marine Systems Simulator (MSS). http://www.marinecontrol.org (2004)
Perez, T., Smogeli, N., Fossen, T.I., Sorensen, A.J.: An overview of the marine systems simulator (MSS): a Simulink toolbox for marine control systems. Model. Identif. Control 27, 259–275 (2006)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Ishaque, K., Abdullah, S.S., Ayob, S.M. et al. Single Input Fuzzy Logic Controller for Unmanned Underwater Vehicle. J Intell Robot Syst 59, 87–100 (2010). https://doi.org/10.1007/s10846-010-9395-x
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-010-9395-x