Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control

Fuzzy Logic Controller (FLC) is an intelligent control that completed and performed with inference rules and membership function.Unmanned Underwater Vehicle (UUV) is a submarine-like robot device that can deploy for underwater tasks,such as deep sea survey and rescue operation,repair and maintenance...

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Main Author:	Seik Heng, Kai
Format:	Thesis
Language:	English
Published:	2016
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/20493/1/Adaptive%20simplified%20fuzzy%20logic%20controller%20of%20unmanned%20underwater%20vehicle%20for%20depth%20and%20pitch%20control.pdf
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id	my-utem-ep.20493
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spelling	my-utem-ep.204932018-04-03T09:22:31Z Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control 2016 Seik Heng, Kai T Technology (General) TJ Mechanical engineering and machinery Fuzzy Logic Controller (FLC) is an intelligent control that completed and performed with inference rules and membership function.Unmanned Underwater Vehicle (UUV) is a submarine-like robot device that can deploy for underwater tasks,such as deep sea survey and rescue operation,repair and maintenance for seabed petroleum gas pipeline.Fuzzy Logic Controller has various efforts and advantages instead of linear controller to control the depth and pitch angle of an UUV due to the ability of FLC to adopt the hydrodynamics w1certainties underwater.However,conventional fuzzy logic controller (CFLC) requires more computational power due to their Multi Input Single Output (MlSO) method,complex processes and decision making that deal with rules based storage,membership function,fuzzi fication and de-fuzzification processes.In this project,an Adaptive Simplified Fuzzy Logic Controller (ASFLC) is proposed for depth and pitch angle control of an UUV,where ASFLC is a controller operate by using Single Input Single Output (SISO) method.ASFLC simplified the rules based storage and reduce the inputs for UUV's depth and pitch angle control parameters.Performance of proposed ASFLC is validated by simulation in Matlab/Simulink.ASFLC ere ated based on the signed distance method,which eventually reduces the controller as a single-input single-output (SlSO)controller. As a result,the rise time and settling time of depth and pitch angle is faster and overshoot of the system is reduced compared to conventional fuzzy logic controller and provides a significant reduction in rules,tuning parameters and a simpler control structure,as compared to the conventional FLC. 2016 Thesis http://eprints.utem.edu.my/id/eprint/20493/ http://eprints.utem.edu.my/id/eprint/20493/1/Adaptive%20simplified%20fuzzy%20logic%20controller%20of%20unmanned%20underwater%20vehicle%20for%20depth%20and%20pitch%20control.pdf text en public http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000095420 masters Universiti Teknikal Malaysia Melaka Faculty Of Manufacturing Engineering
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Seik Heng, Kai Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control
description	Fuzzy Logic Controller (FLC) is an intelligent control that completed and performed with inference rules and membership function.Unmanned Underwater Vehicle (UUV) is a submarine-like robot device that can deploy for underwater tasks,such as deep sea survey and rescue operation,repair and maintenance for seabed petroleum gas pipeline.Fuzzy Logic Controller has various efforts and advantages instead of linear controller to control the depth and pitch angle of an UUV due to the ability of FLC to adopt the hydrodynamics w1certainties underwater.However,conventional fuzzy logic controller (CFLC) requires more computational power due to their Multi Input Single Output (MlSO) method,complex processes and decision making that deal with rules based storage,membership function,fuzzi fication and de-fuzzification processes.In this project,an Adaptive Simplified Fuzzy Logic Controller (ASFLC) is proposed for depth and pitch angle control of an UUV,where ASFLC is a controller operate by using Single Input Single Output (SISO) method.ASFLC simplified the rules based storage and reduce the inputs for UUV's depth and pitch angle control parameters.Performance of proposed ASFLC is validated by simulation in Matlab/Simulink.ASFLC ere ated based on the signed distance method,which eventually reduces the controller as a single-input single-output (SlSO)controller. As a result,the rise time and settling time of depth and pitch angle is faster and overshoot of the system is reduced compared to conventional fuzzy logic controller and provides a significant reduction in rules,tuning parameters and a simpler control structure,as compared to the conventional FLC.
format	Thesis
qualification_level	Master's degree
author	Seik Heng, Kai
author_facet	Seik Heng, Kai
author_sort	Seik Heng, Kai
title	Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control
title_short	Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control
title_full	Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control
title_fullStr	Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control
title_full_unstemmed	Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control
title_sort	adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Manufacturing Engineering
publishDate	2016
url	http://eprints.utem.edu.my/id/eprint/20493/1/Adaptive%20simplified%20fuzzy%20logic%20controller%20of%20unmanned%20underwater%20vehicle%20for%20depth%20and%20pitch%20control.pdf
_version_	1747833970740953088

Adaptive simplified fuzzy logic controller of unmanned underwater vehicle for depth and pitch control

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