GDROV运动控制中模糊滑模控制方法的研究

Research on the Control of GDROV Using Fuzzy-Sliding Mode

GDROV是用于堤坝探测的水下机器人 ,设计上属于开架式机器人 ,其精确的数学模型很难获得。本文采用模糊逻辑与滑模控制相结合的方法 ,通过模糊逻辑动态调整滑模控制器的指数趋近律的参数 ,对水下机器人进行控制 ,解决了滑模控制中所存在的抖振现象和数学模型的不精确问题。首先建立了 GDROV的水动力模型 ,然后在滑模控制的基础上提出用模糊逻辑来动态调整滑模控制器的指数趋近律的参数 ,最后通过仿真试验和水池试验验证了该控制器对模型的不确定性和外部扰动具有较强的鲁棒性 ,以及良好的跟踪性。

GDROV is a kind of open-frame remotely operated underwater vehicle designed for the inspection of cracks, crevices and other potential problems of the dams, which results in the difficulty in acquiring the precise mathematical model of it. A fuzzy sliding mode guidance algorithm is designed for GDROV motion control by adjusting the sliding mode guidance law with fuzzy logic dynamically. The model of GDROV is established firstly in this paper and the fuzzy-sliding mode control is presented based on the sliding mode controller. Finally, simulation tests and tank experiments are conducted to verify the robustness of the controller to the model's uncertainty and the disturbance and the ability for path tracking.