Abstract
This paper describes the application of neurofuzzy techniques in the design of autopilots for controlling the yaw dynamics of an autonomous underwater vehicle. Autopilots are designed using an Adaptive-Network-based Fuzzy Inference System (ANFIS), a chemotaxis tuning methodology and a fixed fuzzy rule-based approach. To describe the yaw dynamic characteristics of an autonomous underwater vehicle, a realistic simulation model is employed. Results are presented which demonstrate the superiority of the ANFIS approach. It is concluded that the approach offers a viable alternative method for designing such autopilots.
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Sutton, R., Craven, P.J. The ANFIS approach applied to AUV autopilot design. Neural Comput & Applic 7, 131–140 (1998). https://doi.org/10.1007/BF01414165
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DOI: https://doi.org/10.1007/BF01414165