期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2017
卷号：95
期号：17
页码：4256
出版社：Journal of Theoretical and Applied
摘要：This paper presents the comparison and performances analysis between Proportional Integral Derivative (PID) Controller and Fuzzy Logic Controller (FLC) designs for yaw control of an Autonomous Underwater Vehicles (AUVs). PID controller is easy to be implemented as PID parameter can be obtained based on the software used and it�s can be achieved, precisely. Moreover, the PID parameter can be acquired based on tracking error and treats the system to be �blackbox� if the system parameter is unknown. However, the designed PID controller may not resist the uncertainties and disturbances. Hence, FLC design had been implemented to improve the performances of AUV-yaw control using heuristic approach until the satisfactory results are obtained. It is necessary to tuning the rules and the range of membership functions in order to get the desired output and improve the system response. The aim of this work is to analysis the performances between PID and FLC for AUV yaw control. Simulation are done in MATLAB/Simulink, using Fuzzy Logic Toolbox and Simulink block. The differences tuning process of PID and FLC are demonstrated and analyzed. The results of simulation shows the implementation of FLC improved the performance of the system response in terms of overshoot and rise time.
关键词：Proportional Integral Derivative; Fuzzy Logic Controller; Autonomous Underwater Vehicle; Yaw control
