Fuzzy S Plane Controller for Motion Control of Underwater Vehicles

被引：0

作者：

Ma, Shan ^{[1
]}

Pang, Yong-Jie ^{[1
]}

Zhang, Tie-Dong ^{[1
]}

Lv, Chong ^{[1
]}

机构：

[1] Harbin Engn Univ, Natl Def Key Lab Autonomous Underwater Vehicle Te, Harbin, Peoples R China

来源：

2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2011年

关键词：

Autonomous Underwater Vehicle (AUV); motion control; fuzzy S plane;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Autonomous Underwater Vehicle (AUV) has a strong-coupling nonlinear motion system. Thus, nonlinearity must be considered in the design of AUV' control system. And the control method which is independent of model must be taken into account, too. Fuzzy S plane controller was adopted to solve the motion control problem under various velocities in the paper. Fuzzy control principle was used to adjust parameters of classical S plane controller on line. Therefore, AUV could adapt itself to environments under various velocities. Simulation experiments were carried out. The result showed that the fuzzy S plane controller had smaller overshoot and shorter response time than the classical one. Thus, the fuzzy one could ensure robustness and improve control performance of AUV.

引用

页码：1640 / 1645

页数：6

共 9 条

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