The nonlinear control using fuzzy logic for spinning underwater vehicle

The paper discusses a new type of spinning underwater vehicle, whose control thrusters were reduced as least as possible. The paper reports on some research into methods and schemes of control systems based on analyzing the dynamic characteristics of the vehicle, and presents a plan of nonlinear PD controller using fuzzy logic inference for vehicle movement. The result of simulation indicates that the control system has good behaviour for trace following and decoupling.