Study on the Control of GDROV Based on Fuzzy Direct Adaptive Theory

General Detection Remotely Operated Vehicle (GDROV) is a kind of open-frame remotely operated underwater vehicle designed for the inspection of cracks, crevices and other potential problems of the dams. It is difficult to model the GDROV precisely. A fuzzy direct adaptive controller based on fuzzy basic functions is designed for GDROV motion control system. By adjusting fuzzy logic adaptive law dynamically the control system can approach the optimal control output. In the paper, the configuration and motion control system of GDROV are introduced firstly and the model of GDROV is established. The fuzzy direct adaptive control theory based on fuzzy logic basic functions is presented in detail. Finally, simulation tests and lake experiments are conducted to verify the robustness of the controller and the ability for path tracking.