A robust adaptive interval type-2 fuzzy control for autonomous underwater vehicles

Ayad Al-Mahturi, Fendy Santoso, Matthew A. Garratt, Sreenatha G. Anavatti

Research output: Book chapter/Published conference paperConference paperpeer-review

11 Citations (Scopus)

Abstract

Autonomous Underwater Vehicles (AUVs) have attracted a lot of interest in recent years as a tool to perform various underwater tasks in both civilian and military sectors. As AUVs' dynamics are highly nonlinear, complex, and time-varying, several studies have been conducted to develop an adaptive control based on the intelligent control techniques. This paper proposes an adaptive interval type-2 fuzzy controller (AIT2FC) for an AUV. An AIT2FC is designed to control the position of the vehicle in the XY and XZ planes, namely, surge, pitch, and yaw motions. The adaptation law of the interval type-2 fuzzy consequent parameters is derived based on the sliding mode control (SMC) theory. The adaptive fuzzy controller has been implemented successfully in an AUV to reach the desired trajectory. Simulation results show that better performance was achieved using AIT2FC compared to a fixed fuzzy controller. The robustness of the proposed controller was investigated against external disturbances.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Industry 4.0, Artificial Intelligence, and Communications Technology (IAICT)
Place of PublicationUnited States
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages19-24
Number of pages6
ISBN (Electronic)9781728137452
ISBN (Print)9781728125145 (Print on demand)
DOIs
Publication statusE-pub ahead of print - 05 Aug 2019
Event2019 IEEE International Conference on Industry 4.0, Artificial Intelligence, and Communications Technology, IAICT 2019 - Aston Kuta Hotel & Residence, Bali, Indonesia
Duration: 01 Jul 201903 Jul 2019
https://web.archive.org/web/20190717010739/http://iaict.org/ (Conference website)
https://web.archive.org/web/20190724184629/http://iaict.org/authors/cfp (Call for papers)
https://drive.google.com/file/d/1gP-kYctVWJCuwryarbKmztgq1gASEVVp/view (Program book)

Publication series

NameProceedings - 2019 IEEE International Conference on Industry 4.0, Artificial Intelligence, and Communications Technology, IAICT 2019

Conference

Conference2019 IEEE International Conference on Industry 4.0, Artificial Intelligence, and Communications Technology, IAICT 2019
Country/TerritoryIndonesia
CityBali
Period01/07/1903/07/19
OtherThe 2019 International Conference on Industry 4.0, Artificial Intelligence and Communications Technology (IAICT’2019) provide a forum for researchers, academicians, professionals, and students from various engineering fields and with cross-disciplinary interests and working in Industry 4.0, Artificial Intelligence and Communications Technology to interact and disseminate information on the latest developments.

Organized and Sponsored by IEEE Indonesia Communications Society Chapter and Telkom University IoT Center, IAICT has a strong foundation of bringing together industry and academia.
Internet address

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