Motion Control of Underwater Robot Based on an Improved Controller
Researches are undertaken to improve the control effect of Underwater Robots. A capacitor plate model controller (CPMC) is designed for a certain type of Underwater Robot. A new control method: generalized S-plane controller (CSPC) is put forward based on the analysis of two new control methods, sigmoid S-plane control (SSPC) and capacitor plate model control. Generalized S-plane controller represents the essence of fuzzy control and has simple structure of PD control. Compared with fuzzy control, it fractionizes fuzzy rules, decreases the complexity when adjusting parameters and reduces the calculation. The two methods are applied to the Underwater Robots simulation experiments and sea trials and plenty of results are obtained. The analysis of the results tells that when setting the same parameters, choosing a nonlinear S-model function with better astringency to substitute the sigmoid function used in sigmoid Splane control, better results can be achieved. The validity of the proposed new controller is verified and it has some practical engineering values.
sigmoid S-plane control (SSPC) capacitor plate model controller(CPMC) Generalized S-plane controller(GSPC) sigmoid function controller compare
Jianguo WANG Gongxing WU Lei WAN Yushan SUN Dapeng JIANG
State Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin,Heilongjiang Province 150001,China
国际会议
上海
英文
1597-1602
2009-11-20（万方平台首次上网日期，不代表论文的发表时间）