PID-FUZZY Control System for Autonomous Underwater Vehicles (AUV): Highly Accurate FPGA Implementation

Abstract

Because of the linear and nonlinear variations in the operating environment, autonomous underwater vehicles (AUVs) are one of the most difficult applications. The complexity of the control algorithm should be less for real-time implementation in a field programable gate array logic (FPGA) device. In this work, a highly accurate FPGA implementation of PID-Fuzzy control strategy is proposed for an AUV operation that is extremely precise. Parameters such as weight, water density, and depth are used to perform highly efficient and accurate control for the proposed system. A type II fuzzy logic controller and accompanying proportional-integral- derivative controller are used to confine pitch and depth boundaries. The proposed design is modeled using SIMULINK software, and Verilog code is generated using hardware description language coder from MATLAB. Xilinx software is used to synthesize the Verilog code for spartan FPGA. The proposed technique improves the accuracy and reduces the response time when compared to the conventional control strategy.