Path-following control of remotely operated vehicle based on improved hybrid fuzzy PID control

Lei Zhang, Jia-Wang Chen, Yu-Xia Sun, Shuai Hao
<span title="">2017</span> <i title="Atlantis Press"> Proceedings of the 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2016) </i> &nbsp; <span class="release-stage">unpublished</span>
A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. The issue of 2D path-following control of ROV was studied. Based on single-input fuzzy controller expressed in analytical form, an improved hybrid fuzzy PID control algorithm was proposed. And its application to the tracking control of path-following approach angle was investigated. The design and parameter tuning of the tracking
more &raquo; ... roller was studied, and the stability of the tracking control system based on the proposed hybrid fuzzy PID control algorithm was analyzed using small gain theorem . At last, simulation studies using the nonlinear dynamic model of ROV were implemented, and the results demonstrate the robustness and adaptability of the hybrid fuzzy PID based path-following control system, and the ROV can follow the predefined path precisely.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="">doi:10.2991/eeeis-16.2017.99</a> <a target="_blank" rel="external noopener" href="">fatcat:dh4amgkbuzhxrfodurt6jzvjva</a> </span>
<a target="_blank" rel="noopener" href="" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href=""> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / </button> </a>