基于变论域的无人艇航向模糊控制策略

Fuzzy Control Strategy of Unmanned Surface Vehicle Heading Based on Variable Universe

模糊控制作为解决无人艇航向控制问题的有效方法,其固定的模糊规则和论域往往无法满足控制系统高精度要求。对此,提出了一种基于变论域理论的无人艇航向模糊控制策略。首先,建立了无人艇非线性数学模型,设计了非线性控制器;其次,根据常规模糊控制理论利用伸缩因子调整论域,伸缩因子的确定结合了函数和模糊控制思想,提高了模糊规则的适用范围,达到了自适应效果;最后,分别在无环境干扰和有环境干扰两种情况下,对比分析了常规控制、模糊控制、变论域模糊控制3种控制策略的航向跟踪效果。实验结果表明,将变论域模糊控制策略应用于无人艇的航向控制可以取得较好的效果,提高了系统的控制精度和自适应能力。

Fuzzy control is an effective method to solve the unmanned surface vehicle(USV)heading control problem.Still,its fixed fuzzy rules and universe often fail to meet the high precision requirements of the control system.In this regard,we proposed a USV heading fuzzy control strategy based on the variable universe.Firstly,a nonlinear mathematical model of the USV was established,and a nonlinear controller was designed.Then,according to the conventional fuzzy control theory,the universe was adjusted using the stretching factor.We determined the stretching factor by combining the function and fuzzy control ideas to improve the applicability of fuzzy rules and achieve the adaptive effect.Finally,the heading tracking effect of three control strategies:conventional control,fuzzy control,and variable universe fuzzy control,was compared and analyzed under the two cases of no environmental disturbance and environmental disturbance,respectively.The experimental results showed that applying the variable universe fuzzy control strategy to the heading control of USV could achieve good results and improve the system’s control accuracy and self-adaptive capability.