Intelligent Control Strategies for an Autonomous Underwater Vehicle

The dynamic characteristics of autonomous underwater vehicles (AUVs) present a control problem that classical methods cannot often accommodate easily. Fundamentally, AUV dynamics are highly non-linear, and the relative similarity between the linear and angular velocities about each degree of freedom means that control schemes employed within other flight vehicles are not always applicable. In such instances, intelligent control strategies offer a more sophisticated approach to the design of the control algorithm. Neurofuzzy control is one such technique, which fuses the beneficial properties of neural networks and fuzzy logic in a hybrid control architecture. Such an approach is highly suited to development of an autopilot for an AUV. Specifically, the adaptive network-based fuzzy inference system (ANFIS) is discussed in Chapter 4 as an effective new approach for neurally tuning course-changing fuzzy autopilots. However, the limitation of this technique is that it cannot be used for developing multivariable fuzzy structures. Consequently, the co-active ANFIS (CANFIS) architecture is developed and employed as a novel multi variable AUV autopilot within Chapter 5, whereby simultaneous control of the AUV yaw and roll channels is achieved. Moreover, this structure is flexible in that it is extended in Chapter 6 to perform on-line control of the AUV leading to a novel autopilot design that can accommodate changing vehicle pay loads and environmental disturbances. Whilst the typical ANFIS and CANFIS structures prove effective for AUV control system design, the well known properties of radial basis function networks (RBFN) offer a more flexible controller architecture. Chapter 7 presents a new approach to fuzzy modelling and employs both ANFIS and CANFIS structures with non-linear consequent functions of composite Gaussian form. This merger of CANFIS and a RBFN lends itself naturally to tuning with an extended form of the hybrid learning rule, and provides a very effective approach to intelligent controller development.The Sea Systems and Platform Integration Sector, Defence Evaluation and Research Agency, Winfrit

Identifying cost, schedule, and performance risks in project planning and control: A fuzzy logic approach.

A review of risk identification and quantification methods revealed the need for additional methods to assess cost, schedule, and performance estimation. A risk model was developed using fuzzy set theory. The risk model was tested using a sample radar development project. The results obtained from the model proved that a practical approach incorporating subject-matter expert assessment and fuzzy set theory could be used to both identify and quantify project risks. Outputs from the model had sufficient fidelity for decision-makers to determine areas for additional surveillance and/or control.In a "real" project management environment historical cost, schedule, and performance data are often not available. The lack of historical data requires the estimation of cost, schedule, and performance parameters. The uncertainties associated with parameter estimation results in inherent project risks. The identification and quantification of project risks associated with parameter estimation requires analytical tools that are effective and usable in project planning and control

Optimization Models Using Fuzzy Sets and Possibility Theory

Optimization is of central concern to a number of disciplines. Operations Research and Decision Theory are often considered to be identical with optimization. But also in other areas such as engineering design, regional policy, logistics and many others, the search for optimal solutions is one of the prime goals. The methods and models which have been used over the last decades in these areas have primarily been "hard" or "crisp", i.e. the solutions were considered to be either feasible or unfeasible, either above a certain aspiration level or below. This dichotomous structure of methods very often forced the modeler to approximate real problem situations of the more-or-less type by yes-or-no-type models, the solutions of which might turn out not to be the solutions to the real problems. This is particularly true if the problem under consideration includes vaguely defined relationships, human evaluations, uncertainty due to inconsistent or incomplete evidence, if natural language has to be modeled or if state variables can only be described approximately. Until recently, everything which was not known with certainty, i.e. which was not known to be either true or false or which was not known to either happen with certainty or to be impossible to occur, was modeled by means of probabilities. This holds in particular for uncertainties concerning the occurrence of events. probability theory was used irrespective of whether its axioms (such as, for instance, the law of large numbers) were satisfied or not, or whether the "events" could really be described unequivocally and crisply. In the meantime one has become aware of the fact that uncertainties concerning the occurrence as well as concerning the description of events ought to be modeled in a much more differentiated way. New concepts and theories have been developed to do this: the theory of evidence, possibility theory, the theory of fuzzy sets have been advanced to a stage of remarkable maturity and have already been applied successfully in numerous cases and in many areas. Unluckily, the progress in these areas has been so fast in the last years that it has not been documented in a way which makes these results easily accessible and understandable for newcomers to these areas: text-books have not been able to keep up with the speed of new developments; edited volumes have been published which are very useful for specialists in these areas, but which are of very little use to nonspecialists because they assume too much of a background in fuzzy set theory. To a certain degree the same is true for the existing professional journals in the area of fuzzy set theory. Altogether this volume is a very important and appreciable contribution to the literature on fuzzy set theory