Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle
Abstract: Underwater environment poses a difficult
challenge for autonomous underwater navigation. A standard problem of
underwater vehicles is to maintain it position at a certain depth in order to
perform desired operations. An effective controller is required for this
purpose and hence the design of a depth controller for an unmanned underwater
vehicle is described in this paper. The control algorithm is simulated by using
the marine guidance navigation and control simulator. The project shows a
radial basis function metamodel can be used to tune the scaling factors of a
fuzzy logic controller. By using offline optimization approach, a comparison
between genetic algorithm and metamodeling has been done to minimize the
integral square error between the set point and the measured depth of the
underwater vehicle. The results showed that it is possible to obtain a
reasonably good error using metamodeling approach in much a shorter time
compared to the genetic algorithm approach.
Author: Amrul Faruq, Shahrum
Shah Bin Abdullah, M. Fauzi Nor Shah
Journal Code: jptkomputergg110032
