Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 11 Issue 5
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- Pages.25-32
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- 1994
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
PDA/FLC Depth control system design for underwater vehicles
수중운동체를 위한 PDA/FLC 심도 제어시스템 설계
Abstract
A nonlinear control algorithm for the depth control of underwater vehicles is presented. In order to consider the deadzone effect of the flow control valve, a nonlinear fuzzy logic controller (FLC) is synthesized and combined with a linear proportional-derivative-acceleration (PDA) controller, which is called the PDA/FLC controller. And to show the effectiveness of the PDA/FLC control system, it is compared with the linear PDA control system through computer simulation. It is found that the PDA/FLC control system is suitable one to maintain the desirable depth of underwater vehicles with deadzone.
Keywords