Preliminary Study for AUV: Longitudinal Stabilization Method Based on Takagi-Sugeno Fuzzy Inference System
Enrico Petritoli1, Cipriano Bartoletti1, Fabio Leccese1
1Science Department, Università degli Studi "Roma Tre", Via della Vasca Navale n. 84, 00146 Rome, Italy.
Abstract:
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.
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