Fuzzy Logic And Neural Network Based Motion Control For Underwater Vehicle

Up to now, intelligent control (IC) has been applied widely in the uncertain and nonlinear system. In this thesis, we aimed at the application of the fuzzy and neural network technology in the motion control and try to design a good control system for the underwater vehicle.First, a four-degree equation was set up by using academic calculating according to the structure character and the demand of the underwater vehicle. Then the theory of the fuzzy logic and neural network was introduced and the combinations of the fuzzy and neural network were expounded. The fuzzy control, neural control and fuzzy neural control for this vehicle were provided. The computer simulation result showed the merit of the fuzzy neural control. In addition, the automatic acquisition of the fuzzy rules was tried.Analyzing the result of the pool trial, we discussed the factors which affected the veracity and facility of the simulation system, and evaluated it. It is very significant for future work.