A Prototype of Newly Dynamic Underwater Vehicle Using Fuzzy PID Control

Abstract

For the objective of low-cost underwater observation, a newly dynamic underwater vehicle (NDUV) is presented. The design of this underwater vehicle is referred to the structure of unmanned aerial vehicle (UAV). NDUV is driven by four propellers which are deployed upside down. The dynamic model is analyzed elementarily and a fuzzy proportional-integralderivative (PID) controller is proposed to control the diving depth and attitude of the vehicle. Then the computer simulation and underwater experiment are carried out respectively. It shows that NDUV is applicable in underwater observation because of its perfect underwater dynamic ability. The simulation results and underwater experiments demonstrate that the proposed fuzzy PID controller surpasses conventional PID one for NDUV in response speed and stability.