Depth controller design using fuzzy gain scheduling method of a autonomous underwater vehicle - verification by HILS

被引：1
作者：
机构：
[1] Maritime R and D
[2] Aerospace Engineering, Sejong University
来源：
Hong, S.K. (skhong@sejong.ac.kr) | 2013年 / Institute of Control, Robotics and Systems卷 / 19期
关键词：
AUV; Depth control; Fuzzy supervisor; Gain schedulng; HILS;
D O I：
10.5302/J.ICROS.2013.13.9024
中图分类号：
学科分类号：
摘要：
This paper proposes a fuzzy logic gain scheduling method for depth controller of the AUV (Autonomous Underwater Vehicle). Gains of depth controller are calculated by using multi-loop root locus technique. Fuzzy logic based gain scheduling approach is used to modify multi-loop gains as control condition. It is illustrated by simulations that the proposed fuzzy logic gain scheduling method yields smaller rising time and overshoot compared to the fixed-gain controller. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether by HILS. © ICROS 2013.
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页码：791 / 796
页数：5
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