Designing a Controller for Autonomous Underwater Vehicle Using Decoupled Model and Fuzzy Logic

The increasing demands of exploring and researching underwater are still developing worldwide. Since people can hardly reach such environments, Autonomous Underwater Vehicles (AUVs) are invented to take place instead. There are many types of controller and models that often used in AUV control, but in this paper, we are going to discuss about decoupled model, which can be expressed at a combination of three separate linearized sub-systems that control three main movements of an AUV, called surge control, steering control and depth control. The control torques are determine through three separate Fuzzy Logic Controllers (FLCs) to finally achieve the state with acceptable errors. In the simulation part, we will show how the FLCs control the sub-systems in decouple model separately, as well as the whole system and evaluate their performances.