Journal ArticleDOI
Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles
TLDR
The design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields are summarized and trends of the fuzzy future in Marine robotic vehicles are concluded based on its state of the art.Abstract:
Fuzzy logic control, due to its simple control structure, easy and cost-effective design, has been successfully employed to the application of guidance and control in robotic fields. This paper aims to review fuzzy-logic-based guidance and control in an important branch of robots—marine robotic vehicles. First, guidance and motion forms including the maneuvering, path following, trajectory tracking, and position stabilization are described. Subsequently, the application of three major classes of fuzzy logic control, including the conventional fuzzy control (Mamdani fuzzy control and Takagi–Sugeno–Kang fuzzy control), adaptive fuzzy control (self-tuning fuzzy control and direct/indirect adaptive fuzzy control), and hybrid fuzzy control (fuzzy PID control, fuzzy sliding mode control, and neuro-fuzzy control) are presented. In particular, we summarize the design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields. In addition, two comparative results between hybrid fuzzy control and the corresponding single control are provided to illustrate the superiority of hybrid fuzzy control. Finally, trends of the fuzzy future in marine robotic vehicles are concluded based on its state of the art.read more
Citations
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Journal ArticleDOI
A review: On path planning strategies for navigation of mobile robot
TL;DR: It has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical approaches and are used to improve the performance of the classical approaches as a hybrid algorithm.
Journal ArticleDOI
An Overview of Recent Advances in Coordinated Control of Multiple Autonomous Surface Vehicles
TL;DR: An overview of recent advances in coordinated control of multiple ASVs is provided and several theoretical and technical issues are suggested to direct future investigations including network-based coordination, event-triggered coordination, collision-free coordination, optimization- based coordination, data-driven coordination of ASVs, and task-region-oriented coordination of multiple AsVs and autonomous underwater vehicles.
Journal ArticleDOI
Path-Following Control of Autonomous Underwater Vehicles Subject to Velocity and Input Constraints via Neurodynamic Optimization
TL;DR: A reference governor is proposed for computing optimal guidance signals within the velocity and input constraints and a projection neural network is employed for solving the optimization problem in real time.
Journal ArticleDOI
Output-Feedback Cooperative Formation Maneuvering of Autonomous Surface Vehicles With Connectivity Preservation and Collision Avoidance
TL;DR: The proposed output feedback control method can be achieved in the absence of velocity measurements and the complexity of the cooperative time-varying formation maneuvering control laws is reduced without resorting to dynamic surface control.
Journal ArticleDOI
Bubble density gradient with laser detection: A wake-homing scheme for supercavitating vehicles:
TL;DR: From the simulation results, it can be seen that the new wake-homing scheme effectively improve the hit probability, reduce the range of loss, reduce power consumption and gentle guidance trajectory, greatly reduce the mobility requirements of the supercavitating vehicles.
References
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Book
Fuzzy sets
TL;DR: A separation theorem for convex fuzzy sets is proved without requiring that the fuzzy sets be disjoint.
Journal ArticleDOI
Fuzzy identification of systems and its applications to modeling and control
T. Takagi,Michio Sugeno +1 more
TL;DR: A mathematical tool to build a fuzzy model of a system where fuzzy implications and reasoning are used is presented and two applications of the method to industrial processes are discussed: a water cleaning process and a converter in a steel-making process.
Journal ArticleDOI
An Experiment in Linguistic Synthesis with a Fuzzy Logic Controller
E.H. Mamdani,S. Assilian +1 more
TL;DR: Fuzzy logic is used to convert heuristic control rules stated by a human operator into an automatic control strategy, and the control strategy set up linguistically proved to be far better than expected in its own right.
Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Journal ArticleDOI
Fuzzy basis functions, universal approximation, and orthogonal least-squares learning
Li-Xin Wang,Jerry M. Mendel +1 more
TL;DR: Using the Stone-Weierstrass theorem, it is proved that linear combinations of the fuzzy basis functions are capable of uniformly approximating any real continuous function on a compact set to arbitrary accuracy.
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