Abstract
This paper presents an underwater vehicle depth fuzzy-PID control method based on overshoot prediction. The underwater vehicle in the shallow waters is affected by the inevitable surge. In order to achieve reliable and stable depth control, this paper realizes the depth and overshoot forecasts by calculating quadratic equation with depth error acceleration and depth error change rate to derive the overshoot time possibility. With this time possibility and depth error, the fuzzy controller calculates the PID controller parameters, and then the underwater vehicle completes the fast and non-overshoot depth control. The simulation results show that the method is effective and feasible.
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Tang, Z., Luojun, He, Q. (2010). A Fuzzy-PID Depth Control Method with Overshoot Suppression for Underwater Vehicle. In: Li, K., Fei, M., Jia, L., Irwin, G.W. (eds) Life System Modeling and Intelligent Computing. ICSEE LSMS 2010 2010. Lecture Notes in Computer Science, vol 6329. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15597-0_24
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DOI: https://doi.org/10.1007/978-3-642-15597-0_24
Publisher Name: Springer, Berlin, Heidelberg
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