Fuzzy modelling and fuzzy-neuro motion control of an autonomous underwater robot

摘要

Addresses the modelling and motion control of an autonomous underwater vehicle (AUV). Such vehicles are commonly classified as being highly nonlinear uncertain systems and are consequently difficult to control effectively using model-based control methods. The paper describes a modelling and motion control system for an AUV based on fuzzy and fuzzy neural techniques. The development of a fuzzy model and fuzzy neural motion control strategy are presented. The study is based on GARBI, a low-cost ROV. The idea is to transfer GARBI from a ROV to an AUV.