Author(s)

A. Piegat, M. Plucinski & W. Skorski

Abstract

Technical system and control algorithms of the underwater vehicle Krab n A. Piegat, M. Plucinski, W. Skorski Maritime Technology and Informatic Faculty, Technical University of Szczecin, Al. Piastow 41, 71-065 Szczecin, Poland Abstract Underwater vehicle (UV) Krab II, the possession of the Maritime Technology and Informatics Faculty of TU of Szczecin, is being gradually equipped with various systems improving its performance, among other things with systems for automatic control of the course angle and the depth of the vehicle. In the paper there is described technical construction of the system, enabling application and verification of various modern control methods. Two among the four methods investigated by the authors, the robust and fuzzy controller of the UV are described in the paper 1 Introduction The underwater vehicle (UV) Krab II, shown on Fig.l, is the main element of the SWOT system built in Maritime Technology Faculty of Technical University of Szczecin. Its appropria

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