Fuzzy Trajectory Control Design for Underwater Robot

Abstract

In the paper applying of genetic algorithms to designing of a fuzzy autopilot for trackkeeping control of underwater robot is considered. For the tracking of a reference trajectory, the way-point line of sight scheme is incorporated and three independent fuzzy controllers are used to generate command signals. Parameters of membership functions of input and output are tuned using genetic algorithms. Quality of control is concerned without and in presence of external disturbances. Some computer simulations are provided to demonstrate the effectiveness and robustness of the approach.