滑模模糊控制器在自主水下航行器制导控制中的应用

Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI:10.1109/UT.2000.852538

F. Chiu, J. Guo, C. Huang, W. Tsai

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引用次数: 6

摘要

结果表明，滑模模糊控制器对自主水下航行器的控制和视线跟踪性能具有较好的效果。滑模模糊控制器的设计方法允许一种系统的方法来构造一组隶属函数，称为收缩跨度隶属函数和扩张跨度隶属函数，对于特定的语言变量。这使得控制器设计更便于处理车辆动力学的非线性和环境干扰。通过实验评估了不同设计参数的效果。

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Application of the sliding mode fuzzy controller to the guidance and control of an autonomous underwater vehicle

Shows that a sliding mode fuzzy controller is quite satisfactory for the control and line of sight tracking performance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller allows a systematic method to construct a set of membership functions, called shrinking-span membership functions and dilating-span membership functions, for a specific linguistic variable. This gives the controller design more convenience to deal with nonlinearities of the vehicle dynamics and the environmental disturbances. Effects of using different design parameters are evaluated through experiments.

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Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)

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