模糊滑模控制在AUV控制中的应用

Application of Fuzzy Sliding Mode Control for AUV Control

本文针对自治水下机器人(AUV)的控制特点,建立了AUV水平面动力学的数学模型,将模糊逻辑引入到了滑模控制器的设计中,通过模糊控制规律直接设计滑模控制量,并运用计算机仿真手段进行了验证,仿真结果验证了该控制方法具有很好的控制性能,有效地消除了滑模控制的抖振,对外部扰动具有较强的鲁棒性,而且具有良好的响应特性。

In this article,according to the characteristics of AUV （Autonomous Underwater Vehicle） control system,the mathematical model of horizontal plane is established,and then the fuzzy logic is used to design the sliding mode controller,the author design the sliding control parameter directly by fuzzy control rules,and then use computer simulation to verify the design,the computer simulation demonstrated that this proposed controller was effective,and the chattering on sliding mode control can be decreased,and the system showed a better robustness under some external disturbances,and it showed a good response characteristics.