Design of AUV Height Control Based on Adaptive Neuro-Fuzzy Inference System

摘要：

This paper studies the applications of Adaptive Neuro-Fuzzy Inference Systems(ANFIS) in the Autonomous Underwater Vehicle(AUV) height control system. A control method of ANFIS is mentioned after absorbing the advantages of fuzzy logic and neural network. According to the data fedback by sensors, this method can get the needed fuzzy membership functions and fuzzy rules by self-study, which composes the control system containing better performance than single neuro network system or single fuzzy system. Use the designed AUV height controller to complete the simulation experiments when AUV receives different height instructions on seafloor. The simulation experiments show that the controller has obvious effect in eliminating uncertainty, serious non-linearity and external interference. It possesses good dynamic performance and strong robustness.

关键词： autonomous underwater vehicle Adaptive Neuro-Fuzzy Inference Systems height control

作者: Xiaocheng Shi Jiang Chen Zheping Yan Tao Li

作者单位: College of Automation Harbin Engineering University Harbin,Heilongjiang Province,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）