Intelligence Control For An Unmanned Underwater Vehicle: Modeling, Optimization

Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an Unmanned Underwater Vehicle is described in this book. The control algorithm is simulated by using the Marine Guidance Navigation and Control Simulator. The project shows a Radial Basis Function Metamodel can be used to tune the scaling factors of a Fuzzy Logic Controller. By using offline optimization approach, a comparison between Genetic Algorithm and Metamodeling has been done to minimize the Integral Square Error between the set point and the measured depth of the underwater vehicle. The results showed that it is possible to obtain a reasonably good error using Metamodeling approach in much a shorter time compared to the Genetic Algorithm approach.

Amrul Faruq did B. Eng in Electrical Engineering at Muhammadiyah University of Malang, Indonesia in 2009. From 2007-2009 He worked as a senior assistant at Electrical Engineering Laboratory UMM. His M.Eng in Control and Optimization System at Universiti Teknologi Malaysia in 2012. Research Engineer at UTM, Malaysia.