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Neural Network & Fuzzy Logic-based Self-tuned PID Controller for Autonomous Underwater Vehicle (AUV)

This project implements an advanced control system using a Neural Network-Fuzzy Logic-based Self-tuned PID Controller to optimize the performance and stability of an Autonomous Underwater Vehicle (AUV). This system combines neural networks, fuzzy logic, and a PID controller to adaptively control AUV movement in dynamic underwater environments.

Project Overview

Underwater vehicles face challenging conditions due to unpredictable currents, variable pressure, and high resistance. Traditional PID controllers struggle with these non-linearities. This project proposes an intelligent, adaptive PID controller that uses:

  • Neural Networks for predictive adjustments.
  • Fuzzy Logic to tune the PID parameters in real time.
  • PID Control to achieve precise positioning and stability for the AUV.

System Components

image

  1. Neural Network Model:

    • Trains on environmental data to predict system behavior and adaptively adjust controller parameters.
    • Enables fast response to non-linear disturbances.

  2. Fuzzy Logic Controller:

    • Uses a set of fuzzy rules to adjust PID parameters dynamically.
    • Provides real-time tuning by evaluating error and rate of change in error.

  3. PID Controller:

    • Core feedback controller that maintains the desired trajectory by adjusting based on real-time error input.

Project Features

  • Adaptive Control: Real-time adjustments to PID parameters ensure stability and responsiveness in changing underwater conditions.
  • MATLAB Implementation: Fully implemented in MATLAB with Simulink support for easy simulation and visualization.
  • Modular Design: The controller's modular setup makes it flexible for various AUV models and operating conditions.

Results:

Prerequisites

  • MATLAB (R2021a or later)
  • Control System Toolbox
  • Fuzzy Logic Toolbox
  • Deep Learning Toolbox (for neural network training)

Installation

  1. Clone this repository: 
    git clone https://github.com/yourusername/NeuralNetwork-Fuzzy-logic-based-self-tuned-PID-controller-for-Autonomous-underwater-vehicle-MatLab.git

License This project is licensed under the MIT License - see the LICENSE file for details.