Design and Simulation of a Self-adaptive Fuzzy-PID Controller for an Autonomous Underwater Vehicle

摘要

In recent years, AUV (autonomous underwater vehicle) has been applied to many fields, such as offshore oil exploitation, underwater target detection, military applications and so on, which raises a higher demand for accuracy control of AUV. In this paper, for the rim-drive dead zone and system nonlinearity problem of "Swordfish II" autonomous underwater vehicle in the actual control process, according to the shape and motion characteristics of the AUV, the six DOF (degrees of freedom) dynamic model is established under MATLAB/Simulink. The fuzzy control theory and the traditional PID control algorithm are combined to design a fuzzy-PID controller. Finally, we construct the simulation system. The simulation results show that the designed controller can control the AUV model and solve the dead zone problem well, and the fuzzy PID controller has better control effect than the traditional pid controller.