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Variable universe based fuzzy control system design for AUV

Underwater vehicle controller design proves difficult for time varying, nonlinear dynamics, coupled model and uncertain flow. Also it is hard to construct the nonlinear coupled uncertain model. Fortunately, we find a simple method to deal with that problem. Variable universe fuzzy control algorithm is superior in model-independent and nonlinear control. Also it is a simple and universal method. It indeed suits for AUV controller design. In this paper, variable universe fuzzy controller, control system and nonlinear dynamic model of AUV are presented. Then we test that controller in simulation to examine its performance.