On-Line Multivariable Intelligent Control of an AUV

Abstract

The design of control systems for autonomous underwater vehicles is a challenging task owing to their nonlinear characteristics and the severe cross-coupling which exists between the principal axes. In this paper, a novel multivariate neurofuzzy autopilot that possesses on-line adaptive capabilities is described and used to control simultaneously the yaw and roll channels of an autonomous underwater vehicle model. Simulation results are presented which demonstrate the effectiveness of the autopilot design.