Neuro-fuzzy control of underwater vehicle-manipulator systems

被引：76

作者：

Xu, Bin ^{[2
]}

Pandian, Shunmugham R. ^{[3
]}

Sakagami, Norimitsu ^{[1
]}

Petry, Fred ^{[4
]}

机构：

[1] Tokai Univ, Dept Nav & Ocean Engn, Orido, Japan

[2] Virginia Polytech Inst & State Univ, Dept Elect & Comp Engn, Blacksburg, VA 24061 USA

[3] SE Louisiana Univ, Dept Comp Sci & Ind Technol, Hammond, LA 70402 USA

[4] USN, Geospatial Sci & Technol Branch, Res Lab, Stennis Space Ctr, MS 39529 USA

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2012年 / 349卷 / 03期

关键词：

Degrees of freedom (mechanics) - Membership functions - Autonomous underwater vehicles - Fuzzy control - Fuzzy inference - Energy utilization - Manipulators;

D O I：

10.1016/j.jfranklin.2012.01.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an intelligent controller for underwater vehicle-manipulator systems (UVMS) based on the neuro-fuzzy approach. The controller is composed of fuzzy PD control with membership function tuning by linguistic hedge. A neural network compensator approximates the dynamics of the UVMS in decentralized form. The new controller has the advantages of simplicity of implementation due to decentralized design, precision, and robustness to payload variations and hydrodynamic disturbances. It has significantly low energy consumption compared to both the conventional PD and conventional fuzzy control methods. The effectiveness of the proposed controller is illustrated by results of simulations for a six degrees of freedom autonomous underwater vehicle with a three degrees of freedom on-board manipulator. (C) 2012 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：1125 / 1138

页数：14

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