A Fuzzy-PD for the Position and Attitude Control of an Underwater Robot

Abstract

This paper deals with the attitude control of an underwater robot for marine archaeology, which is being developed in the framework of the TECSIS project. The control scheme is based on the use of a fuzzy extension of a traditional PD feedback loop. The controller is implemented by using a LQG control for the linearized system, where the attitude control has been developed using quaternionic algebra. The fuzzy extension of this control is used in order to compensate the non linearities of the vehicle. The paper gives results obtained by simulating the proposed control systems in comparison with a traditional PD controller.