INTELLIGENT CONTROLLER OF THE UNDERWATER VEHICLE KRAB II

The design of a controller for underwater vehicles (UV) motion control is difficult because of the complicated motion dynamics of UVs which can move and rotate in all possible directions, showing altering characteristics in each direction. The actual development state of neural networks and fuzzy logic allows for the design of self- learning controllers without the necessity of using any model of the system to be controlled. This paper presents such a controller, of the neuro-fuzzy type, designed for the UV Krab II. Experimental results are given.

• Supplemental Notes:
  • MARIND '96, 1st Intl Conf on Marine Industry; 2-7 June 1996; Varna, Bulgaria. Organised by Bulgarian Soc Naval Architects and Marine Engrs et al. Ed by P.A. Bogdanov. Procs. Vol 1, p 303 [9 p, 7 ref, 11 fig]
• Authors:
  • Andrzej, P
  • Marcin, P
• Publication Date: 1996

Language

• English

Subject/Index Terms

• TRT Terms: Control; Fuzzy sets; Neural networks; Underwater vehicles
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 00733197
• Record Type: Publication
• Source Agency: British Maritime Technology
• Files: TRIS
• Created Date: Mar 27 1997 12:00AM