A Robust Control via a Fuzzy System with PID for the ROV

被引：8

作者：

Dong, Junjie ^{[1
]}

Duan, Xingguang ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China

来源：

SENSORS | 2023年 / 23卷 / 02期

基金：

国家重点研发计划;

关键词：

type-1 fuzzy system; interval type-2 fuzzy system; ROV; INTERVAL TYPE-2; STABILITY ANALYSIS; MOBILE-ROBOT; LOGIC; TRACKING;

D O I：

10.3390/s23020821

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

Uncertainty and nonlinearity in the depth control of remotely operated vehicles (ROVs) have been widely studied, especially in complex underwater environments. To improve the motion performance of ROVs and enhance their robustness, the model of ROV depth control in complex water environments was developed. The developed control scheme of interval type-2 fuzzy proportional-integral-derivative control (IT2FPID) is based on proportional-integral-derivative control (PID) and interval type-2 fuzzy logic control (IT2FLC). The performance indicators were used to evaluate the immunity of the controller type to external disturbances. The overshoot of 0.3% and settling time of 7.5 s of IT2FPID seem to be more robust compared to those of type-1 fuzzy proportional-integral-derivative (T1FPID) and PID.

引用

页数：14

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