摘要
发展水下机器人有着重大而深远的意义,水下机器人的运动控制是实现其智能化的关键,是国内外研究的热点。本文将模糊技术应用于水下机器人,根据水下机器人的六自由度运动模型,设计了水下机器人模糊控制器与PID控制器,并进行了仿真环境下的试验比较。试验结果表明,基于模糊技术的方法显然有较大优势,更有利于控制水下机器人的运动。
It is of great importance to develop the underwater vehicle. Motion control of underwater vehicle is the key to realize its intelligent and it is the hot point all over the world. The paper applies fuzzy technology in the underwater vehicle, and designs fuzzy motion controller and PID controller with six degrees of freedom motion model. A comparison experiment is conducted in the simulation environment. The simulation results prove that the fuzzy controller has more advantages and more conductive to the control of underwater vehicle.
出处
《微型机与应用》
2015年第17期75-77,共3页
Microcomputer & Its Applications
关键词
水下机器人
运动控制
模糊控制技术
运动模型
underwater vehicle
motion control
fuzzy control technology
motion model
