TY - GEN
T1 - Model Reference Adaptive Fuzzy Controller of a 6-DOF Autonomous Underwater Vehicle
AU - Fenco, Lugui
AU - Perez-Zuniga, Gustavo
AU - Quiroz, Diego
AU - Cuellar, Francisco
N1 - Publisher Copyright:
© 2021 MTS.
PY - 2021
Y1 - 2021
N2 - Currently, efficient ocean health monitoring using an autonomous underwater vehicle (AUV) must take into account the complex characteristics of the ocean, the non-linear model of the AUV, high coupling, and unknown parameters that can change over time. In this paper, a Model Reference Adaptive Fuzzy Controller (MRAFC) is proposed for the control of navigation trajectories of a 6-DOF AUV. First, the proposed AUV design for monitoring the Peruvian coastline is summarized. Later the non-linear model of the AUV and the design of the MRAFC represented by the fuzzy Takagy-Sugeno model are presented. Additionaly, Lyapunov theories are used to provide an asymptotic follow-up to a reference trajectory for the model with uncertain parameters or that changes slowly over time. Simulation results show that the proposed controller stabilizes the system and allows a more robust and faster AUV displacement than other traditional controllers.
AB - Currently, efficient ocean health monitoring using an autonomous underwater vehicle (AUV) must take into account the complex characteristics of the ocean, the non-linear model of the AUV, high coupling, and unknown parameters that can change over time. In this paper, a Model Reference Adaptive Fuzzy Controller (MRAFC) is proposed for the control of navigation trajectories of a 6-DOF AUV. First, the proposed AUV design for monitoring the Peruvian coastline is summarized. Later the non-linear model of the AUV and the design of the MRAFC represented by the fuzzy Takagy-Sugeno model are presented. Additionaly, Lyapunov theories are used to provide an asymptotic follow-up to a reference trajectory for the model with uncertain parameters or that changes slowly over time. Simulation results show that the proposed controller stabilizes the system and allows a more robust and faster AUV displacement than other traditional controllers.
KW - 6-DOF
KW - AUV
KW - Lyapunov
KW - MRAFC
KW - Takagy-Sugeno
UR - http://www.scopus.com/inward/record.url?scp=85125941731&partnerID=8YFLogxK
U2 - 10.23919/OCEANS44145.2021.9706083
DO - 10.23919/OCEANS44145.2021.9706083
M3 - Conference contribution
AN - SCOPUS:85125941731
T3 - Oceans Conference Record (IEEE)
BT - OCEANS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - OCEANS 2021: San Diego - Porto
Y2 - 20 September 2021 through 23 September 2021
ER -