带翼水下机器人的非线性拟合分段控制方法

Nonlinear fitted step control method for a winged micro autonomous underwater vehicle

S面控制方法可较好地解决水下机器人的运动控制问题,但由于其参数是固定的,无法达到全局最优.不同航渡速度段,采取不同的控制参数值,可保证水动力不同阶段控制输出的最优;但在速度变化的分界点,控制器输出有跳变,不利于系统的全局稳定性.利用T-S模糊系统逼近非线性连续函数的能力,采用非线性的S面函数作为模糊系统的后件,设计了基于T-S模型的S面控制器.通过T-S模型的引入,避免了控制器输出的跳变,增强了系统稳定性.将该方法应用于带翼水下机器人的深度控制,水池试验和湖中实验均证明了算法的有效性.

The S-surface controller is generally a good tool reach a global optimum, for its parameters are constants. for motion control of underwater vehicles, yet it cannot If different parameters are used at different velocities, control output is optimal at those different hydrodynamic phases. Unfortunately this causes the output of the controller to have abrupt changes at the boundaries of velocity subsections, affecting the global stability of the system. To overcome this, a Takagi-Sugeno （T-S） fuzzy model was employed to approach nonlinear continuous functions and the nonlinear S-surface functions were used as the latter of the fuzzy system. On this basis, an S-surface controller was designed＇. With the introduction of the T-S model, abrupt changes in the system more stable. Experiments in a water tank and lakes proved controller output were avoided, making validity of the algorithm.