A Fuzzy Motion Control of AUV Based on Apery Intelligence

被引：3

作者：

Li Ye ^{[1
]}

Pang Yong-jie ^{[1
]}

Wan Lei ^{[1
]}

Tang Xu-dong ^{[1
]}

机构：

[1] Harbin Engn Univ, State Key Lab Autonomous Underwater Vehicle, Harbin 150001, Peoples R China

来源：

CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年

关键词：

underwater vehicle; fuzzy control; apery intelligence; motion control;

D O I：

10.1109/CCDC.2009.5192716

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Fussy control is restricted by complexity of fussy rules, in the motion control of underwater vehicle. Aiming at adjustment of fussy rules, after decoupling of 6 DOF, the alterable-rule algorithm of fussy control is brought forward, in underwater vehicle motion control. Motion controller of underwater vehicle is designed by apery intelligence. The advantages of S-plane control and fussy control are integrated. The domain of fussy control is compressed. Language variables are added, which help enhance the sensitivity and precision. The motion control experiments of "Mini-dragon-1" underwater vehicle are done in pool and lakes. Control effect is good.

引用

页码：1316 / 1321

页数：6