The Research Of Adaptive Fuzzy Control Technology Of An Underwater Vehicle

The dissertation is on the research of the identification and control for an open-frame remotely operated underwater vehicle named "GDROV" . The vehicle is designed for the purpose of the inspection of cracks, crevice and other potential problem of dikes. The research on how to acquire stable movement of the vehicle is crucial to the real application of the vehicle.The computer simulation environment is very important to the design and regulation of the underwater vehicle motion control system when the filed-test is not feasible for some reasons. Then the theory of the fuzzy logic and adaptive fuzzy was introduced. The adaptive fuzzy control based adjusting parameter and the direct adaptive fuzzy control based fuzzy logic for this vehicle were provided. Simulation and filed-test results verified the effectiveness of the two control method. Which have some self-adjusting and self-adaptive.