Preliminary Study for AUV: Longitudinal Stabilization Method Based on Takagi-Sugeno Fuzzy Inference System

The paper shows the steps for the preliminary studies of an AUV for shallow water: the first part illustrates the vehicle architecture and the philosophy that permeates the various design choices. In the second part illustrates an innovative method for increasing longitudinal stability based on Taka...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2021-03, Vol.21 (5), p.1866
Main Authors: Petritoli, Enrico, Bartoletti, Cipriano, Leccese, Fabio
Format: Article
Language:English
Subjects:
Algorithms
Autonomous underwater vehicles
Autonomous vehicles
AUV
Coasts
Computing time
Design
drone
Drones
fuzzy
Inference
Sensors
Shallow water
Takagi-Sugeno
Tuna
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Summary:The paper shows the steps for the preliminary studies of an AUV for shallow water: the first part illustrates the vehicle architecture and the philosophy that permeates the various design choices. In the second part illustrates an innovative method for increasing longitudinal stability based on Takagi-Sugeno (T-S) Fuzzy Inference System: it saves a lot of computational time and, by simplifying the calculation, it is also suitable for remarkably simple computers such as Arduino. in the third part is simulated the behavior of the AUV: thanks to the data taken from the previous hydrodynamic simulation, we can establish the behavior of its longitudinal stability and the computational savings due to the T-S method.
ISSN:1424-8220
1424-8220
DOI:10.3390/s21051866