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

DOI

10.2991/eeeis-16.2017.99How to use a DOI?

Keywords

ROV; Improved hybrid fuzzy PID control; Path-following

Abstract

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 controller 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.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lei Zhang
AU  - Jia-Wang Chen
AU  - Yu-Xia Sun
AU  - Shuai Hao
PY  - 2016/12
DA  - 2016/12
TI  - Path-following control of remotely operated vehicle based on improved hybrid fuzzy PID control
BT  - Proceedings of the 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2016)
PB  - Atlantis Press
SP  - 800
EP  - 806
SN  - 2352-5401
UR  - https://doi.org/10.2991/eeeis-16.2017.99
DO  - 10.2991/eeeis-16.2017.99
ID  - Zhang2016/12
ER  -