Designing a Fuzzy-like PD controller for an underwater robot

Akkizidis, IS; Roberts, GN; Ridao, P; Batlle, J

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	https://dspace.lib.ntua.gr/xmlui/handle/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
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	CONTROL ENGINEERING PRACTICE	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