An effective Pitch Control Technique for Unmanned Underwater Vehicles based on Type 2 Fuzzy Logic Controller

Abstract

The rapid advancement made in the tethered technologies have enhanced the controller systems of Autonomous Underwater Vehicles (AUVs). In this paper, we design pitch control systems for AUVs using type 2 fuzzy logic controllers. With the help of six degrees of freedom, the kinematic and dynamic motion of AUVs are modeled. The control factors are identified from field data of a closed loop pitch control. The main contribution of this research is to design an adaptive pitch control strategy using Type-2 fuzzy logic controllers considering the nonlinearity and dynamic functionalities of the AUV. Initially, a reduced pitch modeling is studied by pitch plane dynamics and loop control strategy. The obtained deterministic values using fuzzy inference rules have stabilized the pitch control of the vehicles. While making use of the desired linguistic variables, the pitch can be manipulated. The proposed model is implemented using MATLAB software. The simulation analysis has clearly stated the efficiency of the conventional PID controller with the type 2 fuzzy logic approach.