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Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles

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Abstract

Fuzzy logic control, due to its simple control structure, easy and cost-effective design, has been successfully employed to the application of guidance and control in robotic fields. This paper aims to review fuzzy-logic-based guidance and control in an important branch of robots—marine robotic vehicles. First, guidance and motion forms including the maneuvering, path following, trajectory tracking, and position stabilization are described. Subsequently, the application of three major classes of fuzzy logic control, including the conventional fuzzy control (Mamdani fuzzy control and Takagi–Sugeno–Kang fuzzy control), adaptive fuzzy control (self-tuning fuzzy control and direct/indirect adaptive fuzzy control), and hybrid fuzzy control (fuzzy PID control, fuzzy sliding mode control, and neuro-fuzzy control) are presented. In particular, we summarize the design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields. In addition, two comparative results between hybrid fuzzy control and the corresponding single control are provided to illustrate the superiority of hybrid fuzzy control. Finally, trends of the fuzzy future in marine robotic vehicles are concluded based on its state of the art.

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Acknowledgements

This work is supported by National Natural Science Foundation of China (under Grant 51579111 and 51209100), the Fundamental Research Funds for the Central Universities (under Grant 2017KFYXJJ005), State Key Laboratory of Ocean Engineering (under Grant 1504), and International Exchanges of the UK Royal Society (under Grant IE161588).

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  1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

    Xianbo Xiang, Caoyang Yu & Jialei Zhang

  2. Department of Robotics, CNRS-LIRMM-UMII, 34095, Montpellier Cedex 5, France

    Lionel Lapierre

  3. State Key Lab of Digital Manufacturing, Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China

    Qin Zhang

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Xiang, X., Yu, C., Lapierre, L. et al. Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles. Int. J. Fuzzy Syst. 20, 572–586 (2018). https://doi.org/10.1007/s40815-017-0401-3

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