The ANFIS approach applied to AUV autopilot design

This paper describes the application of neurofuzzy techniques in the design of autopilots for controlling the yaw dynamics of an autonomous underwater vehicle. Autopilots are designed using an Adaptive-Network-based Fuzzy Inference System (ANFIS), a chemotaxis tuning methodology and a fixed fuzzy rule-based approach. To describe the yaw dynamic characteristics of an autonomous underwater vehicle, a realistic simulation model is employed. Results are presented which demonstrate the superiority of the ANFIS approach. It is concluded that the approach offers a viable alternative method for designing such autopilots.