Fuzzy control for yaw tracking of Cormoran AUV
This work presents in detail the fuzzy control design for yaw tracking of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations both in surge velocity as i...
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| Format: | Article |
| Language: | Spanish |
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Universitat Politècnica de València
2015-04-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/9390 |
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| _version_ | 1846093997636845568 |
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| author | Julián González Spartacus Gomáriz Carles Batlle |
| author_facet | Julián González Spartacus Gomáriz Carles Batlle |
| author_sort | Julián González |
| collection | DOAJ |
| description | This work presents in detail the fuzzy control design for yaw tracking of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations both in surge velocity as in changes in yaw reference. The model is linearized and several linear controls are designed for their actuation at certain situations, in a way that the fuzzy control allows to handle those controls globally. |
| format | Article |
| id | doaj-art-9245eb1be70c4393906faba5a570c0ba |
| institution | Kabale University |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| publishDate | 2015-04-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj-art-9245eb1be70c4393906faba5a570c0ba2025-01-02T15:46:50ZspaUniversitat Politècnica de ValènciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202015-04-0112216617610.1016/j.riai.2015.02.0036425Fuzzy control for yaw tracking of Cormoran AUVJulián González0Spartacus Gomáriz1Carles Batlle2Universitat Politècnica de CatalunyaUniversitat Politècnica de CatalunyaUniversitat Politècnica de CatalunyaThis work presents in detail the fuzzy control design for yaw tracking of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations both in surge velocity as in changes in yaw reference. The model is linearized and several linear controls are designed for their actuation at certain situations, in a way that the fuzzy control allows to handle those controls globally.https://polipapers.upv.es/index.php/RIAI/article/view/9390fuzzy controlautonomous vehicleslinear control systemsmathematical modelscontinuous path control |
| spellingShingle | Julián González Spartacus Gomáriz Carles Batlle Fuzzy control for yaw tracking of Cormoran AUV Revista Iberoamericana de Automática e Informática Industrial RIAI fuzzy control autonomous vehicles linear control systems mathematical models continuous path control |
| title | Fuzzy control for yaw tracking of Cormoran AUV |
| title_full | Fuzzy control for yaw tracking of Cormoran AUV |
| title_fullStr | Fuzzy control for yaw tracking of Cormoran AUV |
| title_full_unstemmed | Fuzzy control for yaw tracking of Cormoran AUV |
| title_short | Fuzzy control for yaw tracking of Cormoran AUV |
| title_sort | fuzzy control for yaw tracking of cormoran auv |
| topic | fuzzy control autonomous vehicles linear control systems mathematical models continuous path control |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/9390 |
| work_keys_str_mv | AT juliangonzalez fuzzycontrolforyawtrackingofcormoranauv AT spartacusgomariz fuzzycontrolforyawtrackingofcormoranauv AT carlesbatlle fuzzycontrolforyawtrackingofcormoranauv |