Fuzzy Logic PID Based Control Design for a Small Underwater Robot with Minimum Energy Consumption

Ali Jebelli and Mustapha C. E. Yagoub
School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada
Abstract—In this paper, various mechanical and electrical constituting parts of autonomous submarines are discussed. In particular, one of the major units, the control unit, was investigated and a microcontroller designed. Based on Fuzzy Logic and PID control approaches, it is intended to be used in small autonomous underwater robots. This special architecture enables the robot to respond fast enough and provides higher levels of deliberation and perception as well as reliable performance in the robot’s activities. Also, an intelligent system of temperature and energy control was designed to let the robot move as much as possible with minimum energy consumption.
 
Index Terms—Autonomous Underwater Robot (AUV), Fuzzy Logic Controller (FLC), PWM, Proportional Integral Derivative (PID)

Cite: Ali Jebelli and Mustapha C. E. Yagoub, "Fuzzy Logic PID Based Control Design for a Small Underwater Robot with Minimum Energy Consumption," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 3, pp. 186-190, July 2016. DOI: 10.18178/ijmerr.5.3.186-190
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