Philippine Journal of Science
152 (3): 999–1006, June 2023
ISSN 0031 – 7683
Date Received: 22 Dec 2022

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

D. Bhattacharya1 and C. Puttamadappa2

1Department of Electronics and Communication,
Dayananda Sagar University, Bengaluru 560068 Karnataka, India
2Department of Electronics and Communication,
Dayananda Sagar University, Bengaluru 560068 Karnataka, India

*Corresponding author: devjanibhattacharya2016@gmail.com

[Download]
Bhattacharya D, Puttamadappa C. 2023. PID-FUZZY Control System for Autonomous Underwater
Vehicles (AUV): Highly Accurate FPGA Implementation. Philipp J Sci 152(3): 999–1006.
https://doi.org/10.56899/152.03.20

 

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-integralderivative 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..