There have been various efforts to develop the controller for the URV, which include both the (conventional) linear and the (modern) intelligent control schemes. Intelligent control methods, which include neural networks (NN), sliding mode (SLC), and fuzzy logic controllers (FLC) are more robust and are able to adopt the hydrodynamic uncertainties. In addition, they exhibit excellent immunity to disturbances. Although intelligent control is very promising for URV application, it requires substantial computational power, due to the complex decision-making processes. For example, an FLC has to deal with fuzzification, rule-based storage, inference mechanism and defuzzification operations. Despite these issues, it is ...
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