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Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties

1
Department of Cyber-Physical Systems, St. Petersburg State Marine Technical University, 190121 Saint-Petersburg, Russia
2
Department of Ship’s Electrical Equipment and Automatization, Kerch State Maritime Technological University, 298309 Kerch, Russia
3
Department of Complex Information Security, Admiral Makarov State University of Maritime and Inland Shipping, 198035 Saint-Petersburg, Russia
4
Graduate School of Cyber-Physical Systems and Control, Peter the Great St. Petersburg Polytechnic University, 194064 Saint-Petersburg, Russia
*
Author to whom correspondence should be addressed.
Academic Editor: Hamid Reza Karimi
Received: 17 January 2021 / Revised: 14 March 2021 / Accepted: 19 March 2021 / Published: 23 March 2021
(This article belongs to the Section Mechanical Engineering)
The paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion autonomous underwater vehicle is designed. The quality of control for step control, harmonic control, as well as various types of exogenous disturbances, is investigated. The comparison of the functioning quality of the designed fuzzy controller with the proportional–derivative controller is made. It is shown that the designed fuzzy controller provides a higher quality of control compared to the proportional–derivative controller. The proposed fuzzy controller provides high-quality control of the plant under uncertainties. View Full-Text
Keywords: robotics; underwater; control; AUV; maritime robotics; underwater; control; AUV; maritime
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MDPI and ACS Style

Zhilenkov, A.; Chernyi, S.; Firsov, A. Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties. Designs 2021, 5, 24. https://0-doi-org.brum.beds.ac.uk/10.3390/designs5010024

AMA Style

Zhilenkov A, Chernyi S, Firsov A. Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties. Designs. 2021; 5(1):24. https://0-doi-org.brum.beds.ac.uk/10.3390/designs5010024

Chicago/Turabian Style

Zhilenkov, Anton; Chernyi, Sergei; Firsov, Andrey. 2021. "Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties" Designs 5, no. 1: 24. https://0-doi-org.brum.beds.ac.uk/10.3390/designs5010024

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