Control of Autonomous Underwater Vehicle Using Fuzzy Logic Tuned by Genetic Algorithms
Yu Hua · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2002
This paper proposes a fuzzy controller tuned automatically by genetic algorithm(GA).A real-code scheme is employed to encode the GA chromosome ,which consists of the rule sets and parameters of the membership functions of the continuous fuzzy controller to be optimized . The application of reproduction,crossover and mutation operator in the nonlinear optimization are also discussed in this paper. Application of the optimized fuzzy controller to the control of an autonomous underwater vehicle is investigated .Simulation results show that the optimized fuzzy controller has the character of quicker response and smaller overshoot in compared with those of conventional fuzzy controller.