Universiti Teknologi Malaysia Institutional Repository

A simplified approach to design fuzzy logic controller for an underwater vehicle

Ishaque, K. and Abdullah, Shahrum Shah and Md. Ayob, Shahrin and Salam, Zainal (2011) A simplified approach to design fuzzy logic controller for an underwater vehicle. Ocean EngIneerIng, 38 (1). 271 - 284. ISSN 0029-8018

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Official URL: http://dx.doi.org/10.1016/j.oceaneng.2010.10.017


Fuzzy logic controller (FLC) performance is greatly dependent on its inference rules. In most cases, the more rules being applied to an FLC, the accuracy of the control action is enhanced. Nevertheless, a large set of rules requires more computation time. As a result, an FLC implementation requires fast and high performance processors. This paper describes a simplified control scheme to design a fuzzy logic controller (FLC) for an underwater vehicle namely, deep submergence rescue vehicle (DSRV). The proposed method, known as the single input fuzzy logic controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input FLC. The SIFLC offers significant reduction in rule inferences and simplifies the tuning process of control parameters. The performance of the proposed controller is validated via simulation by using the marine systems simulator (MSS) on the Matlab/Simulink ® platform. During simulation, the DSRV is subjected to ocean wave disturbances. The results indicate that the SIFLC, Mamdani and Sugeno type CFLC give identical response to the same input sets. However, an SIFLC requires very minimum tuning effort and its execution time is in the orders of two magnitudes less than CFLC.

Item Type:Article
Uncontrolled Keywords:fuzzy logic controller, signed distance method, single input fuzzy logic control, underwater vehicle
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:22828
Deposited By: Kamariah Mohamed Jong
Deposited On:05 Nov 2012 03:20
Last Modified:08 Feb 2017 04:44

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