A Fuzzy Model-Based Controller of an Underwater Robotic Vehicle Under the Influence of Thruster Dynamics.
Wonchang LeeGeuntaek KangPublished in: ICRA (1998)
Keyphrases
- real time
- fuzzy controller
- robotic manipulator
- dynamic model
- adaptive fuzzy
- autonomous underwater vehicle
- fuzzy logic
- fuzzy sets
- fuzzy logic controller
- control system
- information fusion
- takagi sugeno
- variable structure
- pi controller
- fuzzy logic control
- kinematic model
- highly nonlinear
- tracking error
- control method
- control algorithm
- fuzzy rules
- pedestrian detection
- mobile robot
- fuzzy control
- membership functions
- vehicle detection
- guaranteed cost
- control scheme
- closed loop
- fuzzy clustering
- control loop
- soft computing
- sliding mode
- fuzzy systems
- fuzzy numbers
- pid controller
- traffic light
- initial conditions
- nonlinear systems
- control law
- optimal control
- motion control
- contact force
- adaptive control
- robotic systems
- fuzzy model
- acoustic signal
- degrees of freedom
- internal model control