堤坝检测水下机器人模糊自适应控制方法研究

Research on control of GDROV using adaptive fuzzy mode

GDROV是用于堤坝探测的水下机器人,设计上属于开架式机器人,其精确的数学模型很难获得。采用基于模糊逻辑的直接自适应控制方法,利用模糊基函数网络逼近理想控制输出,通过模糊逻辑动态调整控制器的参数自适应律,可有效解决水下机器人控制问题。建立GDROV的水动力模型,给出基于模糊逻辑的直接自适应控制算法,最后通过仿真试验和外场试验验证了该控制器对模型的不确定性具有较强的鲁棒性,且具有良好的跟踪性能。

GDROV is a kind of open-frame remotely operated underwater vehicle designed for the inspection of cracks, crevices and other potential problems of the dams, whose numerical model is difficult to acquire precisely. A fuzzy direct adaptive control is designed for GDROV motion control by using fuzzy basic functions to approximate the optimal control output and by adjusting the adaptive law with fuzzy logic dynamically. In this paper, the configuration and motion control system of GDROV is introduced, the model of GDROV is established, and the fuzzy direct adaptive control based on fuzzy logic basic functions is presented. Finally, simulation tests and lake experiments are conducted to verify the robustness of the controller to the model＇s uncertainty and the ability for path tracking.