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Intelligent Steering Control of an Autonomous Underwater Vehicle

Published online by Cambridge University Press:  30 October 2000

R. Sutton ,
R. S. Burns  and
P. J. Craven
R. Sutton
Affiliation:
University of Plymouth
R. S. Burns
Affiliation:
University of Plymouth
P. J. Craven
Affiliation:
Racal Research Limited
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Abstract

This paper considers the development of three autopilots for controlling the yaw responses of an autonomous underwater vehicle model. The autopilot designs are based on the adaptive network-based fuzzy inference system (ANFIS), a simulated, annealing-tuned control algorithm and a traditional proportional-derivative controller. In addition, each autopilot is integrated with a line-of-sight (LOS) guidance system to test its effectiveness in steering round a series of waypoints with and without the presence of sea current disturbance. Simulation results are presented that show the overall superiority of the ANFIS approach.

Keywords

1. Control2. Underwater Vehicles3. Autopilots
Type
Research Article
Information
The Journal of Navigation , Volume 53 , Issue 3 , September 2000 , pp. 511 - 525
Copyright
© 2000 The Royal Institute of Navigation

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