Heading plane Control of an Autonomous Underwater Vehicle: A novel Fuzzy and Model Reference Adaptive Control Approach

This paper describes various control strategies used for controlling the desired heading angle of the Autonomous under water vehicle(AUV). The control of AUV is a great challenge for the researchers due to the time varying and highly nonlinear effect of hydrodynamic forces. The presence of communication constraints and the external disturbances inside the fluid makes the design of control action of AUV more difficult. In these situation the adaptive controller techniques such as Model reference adaptive controller (MRAC) is more suitable. The proposed new adaptive controller Fuzzy Model Reference Adaptive Controller (FMRAC) technique is the combination of MRAC and Fuzzy logic which produces better transient performance. The heading controller is designed and their performance is examined through the MATLAB/SIMULINK. The time response characteristics of the proposed controller are compared with traditional MRAC and FUZZY. The FMRAC has the ability to produce the stable operation and more effectiveness for controlling the heading angle.