Designing a Fuzzy-like PD controller for an underwater robot

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dc.contributor.author Akkizidis, IS en
dc.contributor.author Roberts, GN en
dc.contributor.author Ridao, P en
dc.contributor.author Batlle, J en
dc.date.accessioned 2014-03-01T01:18:51Z
dc.date.available 2014-03-01T01:18:51Z
dc.date.issued 2003 en
dc.identifier.issn 0967-0661 en
dc.identifier.uri http://hdl.handle.net/123456789/15224
dc.subject underwater vehicle control en
dc.subject fuzzy like-PD controller en
dc.subject yaw and depth control en
dc.subject Taguchi design of experiments en
dc.subject.classification Automation & Control Systems en
dc.subject.classification Engineering, Electrical & Electronic en
dc.subject.other SYSTEMS en
dc.title Designing a Fuzzy-like PD controller for an underwater robot en
heal.type journalArticle en
heal.identifier.primary 10.1016/S0967-0661(02)00055-2 en
heal.identifier.secondary http://dx.doi.org/10.1016/S0967-0661(02)00055-2 en
heal.language English en
heal.publicationDate 2003 en
heal.abstract The design of a steering and depth control in terms of course-changing and course-keeping tracking mission and motion of an underwater vehicle is described in this paper. Fuzzy-like proportional derivative (PD) controller is used where the Fuzzy-like part of the controller is optimised based on its structure and parameter design aspects, whereas the scaling factors of the PD part is optimised based on the minimum number of experiments in a real environment. The experiments were planned using Taguchi design of experiments method. The experimental trials and their results are presented and analysed extensively. (C) 2003 Published by Elsevier Science Ltd. en
dc.identifier.doi 10.1016/S0967-0661(02)00055-2 en
dc.identifier.isi ISI:000181752300013 en
dc.identifier.volume 11 en
dc.identifier.issue 4 en
dc.identifier.spage 471 en
dc.identifier.epage 480 en

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