Fuzzy control of motion of underwater robotic vehicle

Abstract

The paper addresses nonlinear control of an underwater robot. A way-point line of sight scheme is incorporated to following a desired path. Command signals are generated by an autopilot consisting of three fuzzy controllers. A methods of thrust distribution among propellers in the robot's propulsion system is also proposed. Optimisation of thrust allocation is directed towards minimisation of energy expenditures necessary to obtain required control. Some computer simulations are provided to demonstrate effectiveness, correctness and robustness of the approach.