Multi-input and Multi-output Fuzzy Logic Controller for a Submarine

Abstract

This paper explores the potential of rule based fuzzy logic technique for a Multi-Input and Multi-Output (MIMO) control system of a submarine. A tenth order dynamic model of a submarine has been considered for heading and diving maneuvers. The parameters of model are considered to vary with depth and wind generated waves. Mamani type inference system along with triangular membership function is used for development of controller. For defuzzification cetroid method is used. Total 98 rules are developed. To demonstrate the robustness of Fuzzy controller, the performance of controller is tested in different operating conditions: in ideal conditions and in presence of waves. Simulations results show that in both cases, the heading error comes to zero, which indicates that the actual heading converges to the desired heading in finite time.