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http://dx.doi.org/10.5302/J.ICROS.2013.13.9024

Depth Controller Design using Fuzzy Gain Scheduling Method of a Autonomous Underwater Vehicle - Verification by HILS  

Hwang, Jong-Hyon (Maritime R&D Lab, LIG Nex1 Co. Ltd)
Park, Sewon (Maritime R&D Lab, LIG Nex1 Co. Ltd)
Kim, Moon-Hwan (Maritime R&D Lab, LIG Nex1 Co. Ltd)
Lee, Sang-Young (Maritime R&D Lab, LIG Nex1 Co. Ltd)
Hong, Sung Kyung (Aerospace Engineering, Sejong University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.9, 2013 , pp. 791-796 More about this Journal
Abstract
This paper proposes a fuzzy logic gain scheduling method for depth controller of the AUV (Autonomous Underwater Vehicle). Gains of depth controller are calculated by using multi-loop root locus technique. Fuzzy logic based gain scheduling approach is used to modify multi-loop gains as control condition. It is illustrated by simulations that the proposed fuzzy logic gain scheduling method yields smaller rising time and overshoot compared to the fixed-gain controller. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether by HILS.
Keywords
AUV; fuzzy supervisor; depth control; HILS; gain schedulng;
Citations & Related Records
Times Cited By KSCI : 8  (Citation Analysis)
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