Universiti Teknologi Malaysia Institutional Repository

Single input fuzzy logic controller for unmanned underwater vehicle

Abdullah, Shahrum Shah and Md. Ayob, Shahrin and Salam, Zainal and K., Ishaque (2010) Single input fuzzy logic controller for unmanned underwater vehicle. Journal of Intelligent and Robotic Systems, 59 (1). 87 - 100. ISSN 0921-0296

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Official URL: http://dx.doi.org/10.1007/s10846-010-9395-x

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.

Item Type:Article
Uncontrolled Keywords:fuzzy logic controller, signed distance method, single input fuzzy logic control, unmanned underwater vehicle
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:26557
Deposited By: Liza Porijo
Deposited On:18 Jul 2012 01:57
Last Modified:06 Aug 2012 02:38

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