A Fuzzy Motion Control of AUV Based on Apery Intelligence

摘要：

Fussy control is restricted by complexity of fussy rules, in the motion control of underwater vehicle. Aiming at adjustment of fussy rules, after decoupling of 6 DOF, the alterable-rule algorithm of fussy control is brought forward, in underwater vehicle motion control. Motion controller of underwater vehicle is designed by apery intelligence. The advantages of S-plane control and fussy control are integrated. The domain of fussy control is compressed. Language variables are added, which help enhance the sensitivity and precision. The motion control experiments of “Mini-dragon-1 underwater vehicle are done in pool and lakes. Control effect is good.

关键词： underwater vehicle fuzzy control apery intelligence motion control

作者: LI Ye PANG Yong-jie WAN Lei TANG Xu-dong

作者单位: State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 1316-1321

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）