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Open Access Fuzzy Yaw Autopilots for Unmanned Underwater Vehicles Tuned Using Artificial Neural Networks

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This paper describes the application of neuro-fuzzy techniques in the design of autopilots for controlling the yaw dynamics of an unmanned underwater vehicle. Autopilots are designed using an adaptive-network-based fuzzy inference system (ANFIS), a simulated annealing tuning methodology, and a fixed fuzzy rule-based approach. To describe the yaw dynamic characteristics of an unmanned 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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Document Type: Miscellaneous

Publication date: 01 September 1997

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