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unpublished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.
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