Model Reference Adaptive Fuzzy Controller of a 6-DOF Autonomous Underwater Vehicle

Lugui Fenco, Gustavo Perez-Zuniga, Diego Quiroz, Francisco Cuellar

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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.

Idioma originalInglés
Título de la publicación alojadaOCEANS 2021
Subtítulo de la publicación alojadaSan Diego - Porto
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9780692935590
EstadoPublicada - 2021
EventoOCEANS 2021: San Diego - Porto - San Diego, Estados Unidos
Duración: 20 set. 202123 set. 2021

Serie de la publicación

NombreOceans Conference Record (IEEE)
ISSN (versión impresa)0197-7385


ConferenciaOCEANS 2021: San Diego - Porto
País/TerritorioEstados Unidos
CiudadSan Diego


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