Full Content is available to subscribers

Subscribe/Learn More  >

Design of a Fuzzy Controller for an Underwater Vehicle Aiming at a Stationary Target

[+] Author Affiliations
Farhood Azarsina

National Research Council of Canada

Hassan Sayyaadi

Sharif University of Technology, Tehran, Iran

Paper No. ESDA2006-95033, pp. 623-629; 7 pages
  • ASME 8th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 1: Advanced Energy Systems, Advanced Materials, Aerospace, Automation and Robotics, Noise Control and Acoustics, and Systems Engineering
  • Torino, Italy, July 4–7, 2006
  • ISBN: 0-7918-4248-7 | eISBN: 0-7918-3779-3
  • Copyright © 2006 by ASME


In this paper, on the basis of a robust algorithm for the analysis of the 6 DOF motion of an underwater vehicle in calm water, after presenting the dynamics model and simulating motion, the model is put in the closed loop control to perform a controlled mission. The mission is defined as to navigate the submarine toward a desired point in the vertical plane. In performing the mission, the least time and of course the least position error with respect to the target point is aimed. The designed controller based on fuzzy logic and thus adapted to the human patterns for navigation, with a simple structure, performs the mission accurately. The intelligent structure of the fuzzy controller, results in a spectacular capability in target finding; such that by the increase of mission duration, the submarine, which never completely stops in this modeling, reaches the target point multiple times. Several simulations of the controlled motion, changing the coordinates of target point, proved the controller effectiveness.

Copyright © 2006 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In