Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results...

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Bibliographic Details
Main Authors: Mohanad M Hammad, Ahmed K Elshenawy, M I El Singaby
Format: Article
Language:English
Published: Public Library of Science (PLoS) 2017-01-01
Series:PLoS ONE
Online Access:http://europepmc.org/articles/PMC5500310?pdf=render

Internet

http://europepmc.org/articles/PMC5500310?pdf=render

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