Fuzzy Control of the Stabilization Process of Remote-controlled Underwater Robot

Abstract

The article considers the problem of vertical control of a remote-controlled underwater robot. In this regard, there is a need to build a mathematical model of the robot's movement and the choice of motion control algorithms, on the basis of which remote control can be implemented. The article substantiates the approach to constructing a mathematical model of underwater vehicles of small elongation, proposes a complete model of spatial motion, corresponding to the results of field tests of the robot. The structure of a fuzzy controller for controlling the stabilization of the speed of the robot, as well as ways to conFigure it is proposed. The results of modeling and testing the controlled motion of an underwater robot in a vertical plane are presented, showing the effectiveness of fuzzy control compared to a proportional differential controller. The results can be used to build automatic control systems for the spatial movement of an underwater robot.