摘要
为解决自主水下航行器AUV航迹控制问题,提出了一种基于模糊增益调节的模糊自校正控制方法。该方法完全使用马丹尼型模糊控制器实现,包括1个基本模糊控制器和3个模糊增益调节装置。基本模糊控制器用于实现AUV航迹保持,模糊增益调节装置为基本模糊控制器提供可以实时调整的量化因子。分别对模糊自校正控制方法和基本模糊控制方法进行了对比仿真试验,试验结果显示模糊自校正控制方法相比于基本模糊控制方法,其控制效果更好,特别是对海流扰动具有更强的适应性。
To solve the tracking control problem of AUV （Autonomous underwater vehicle）, a fuzzy self-turning control method based on fuzzy gain turning was proposed. This method was completely achieved only using Mamdani type fuzzy controllers. It in- cludes a base fuzzy controller and three fuzzy gain turning mechanisms. The basic fuzzy controller is used to achieve the AUV track-keeping, and the function of fuzzy gain turning mechanism is to provide an on-line m^Mification of the scaling factors for base fuzzy controller. Simulation comparison on the base fuzzy control method and the fuzzy self-turning control method ale present- ed respectively. The simulation results show that compared with the base fuzzy control method, the fuzzy self-turning control method has better control effect, especially more adaptive for the sea current disturbances.
出处
《微型机与应用》
2014年第8期75-77,80,共4页
Microcomputer & Its Applications
基金
国家自然科学基金资助项目(50909027)
关键词
自主水下航行器
模糊控制
模糊增益调节
航迹控制
autonomous underwater vehicle
fuzzy control
fuzzy gain turning
tracking control
