摘要
根据深海采矿车的运动学模型,考虑随机打滑率等干扰影响,采用分层控制的思想将采矿车的轨迹跟踪控制分为2部分:轨迹跟踪模糊控制器和速度PID控制器.基于连续状态反馈的有限时间控制算法,结合模糊逻辑控制器,设计了一种连续的状态反馈轨迹跟踪控制算法,仿真结果表明了该方法的有效性.
Based on the deep-sea mining vehicle's kinematic model and take consideraing of the random disturbance,the trajectory tracking control system is designed into two parts:the trajectory tracking fuzzy controller and the velocity-PID controller.Using finite time control techniques for continuous systems and combining with fuzzy-logic controller,a continuous state feedback control algorithm for trajectory tracking is developed,simulation results show the theoretical results.
出处
《中原工学院学报》
CAS
2010年第1期5-7,78,共4页
Journal of Zhongyuan University of Technology
基金
国际海底区域研究开发"十五"项目(DY105-03-02-06)
国家重点基础研究发展规划项目(2002CB312203)
关键词
深海采矿车
轨迹跟踪
分层控制
有限时间
deep-sea mining vehicle
trajectory tracking
hierarchy system
finite time