Heading Control of an AUV Based on Mamdani Fuzzy Inference

被引：0

作者：

Dong, Zaopeng ^{[1
]}

Wan, Lei ^{[1
]}

Liu, Tao ^{[1
]}

Zhuang, Jiayuan ^{[1
]}

机构：

[1] Harbin Engn Univ, Sci & Technol Autonomous Underwater Vehicle, Harbin 150001, Peoples R China

来源：

PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL ENGINEERING AND INDUSTRIAL INFORMATICS | 2015年 / 15卷

关键词：

autonomous underwater vehicle (AUV); heading control; fuzzy control technology; Mamdani Fuzzy Inference(MFI); Gaussian membership function;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A class of autonomous underwater vehicle (AUV) heading control problem is addressed in this paper based on Mamdani Fuzzy Inference (MFI). Firstly, empirical knowledge of heading control for ship from experienced captain is fuzzed into fuzzy control rules, which can be identified by computer, using fuzzy set theory. Secondly, output of the controller is derived by calculating the excitation of system input to the control rules, combing with the application of multi-input-multi-rule MFI. Thirdly, robust adaptive heading controller for AUV is designed incorporating the distributing characteristics of Gaussian membership function, in order to overcome randomness and uncertainty of the external environment disturbances on AUV. At last, simulation experiment is carried out to verify the effectiveness and superiority of the controller designed.

引用

页码：1402 / 1407

页数：6

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