Briere, Yves and Cardoso-Ribeiro, Flavio Luiz and Vieira Rosa, M.A Design methodologies for the control of an unmanned sailing robot. (2009) In: 8th Conference on Manoeuvring and Control of Marine Craft (MCMC'2009), 16-18 Sept 2009, Guarujá, Brazil .
(Document in English)
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The design of a sailing robot controller is addressed. Based on a simulation model, and validated by experiments with a real sailing robot, three controllers are compared: the classical fuzzy controller, the state machine controller and the fuzzy state machine controller. The fuzzy controller shows poor results because the robot is, like any sailboat, subject to dramatic change in its internal state (tacking, jibe, etc.) The "natural" approach is to describe the transitions between states as a classical state machine with transitions. We improve the concept with fuzzy transition, obtaining the same results in term of behavior but using effectiveness of fuzzy design to transpose human expertise in fuzzy rules. Although these controllers show good results in a wide range of wind force, we conclude that adaptive control is needed.
|Item Type:||Conference or Workshop Item (Paper)|
|Audience (conference):||International conference proceedings|
|Institution:||Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE (FRANCE)|
Other partners > Instituto Tecnologico de Aeronautica - ITA (BRAZIL)
Département de Mathématiques, Informatique, Automatique - DMIA (Toulouse, France) - Automatique, Dynamique et Interface des Systèmes - ADIS
|Deposited By:||Yves Briere|
|Deposited On:||19 May 2009 09:38|
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