Motion Control of Underwater Vehicle Based on Fuzzy S Surface Control with Variable Domain and Interpolation
Precise motion control technology is very difficult to be realized on underwater vehicle because of its strong nonlinearity and the uncertainty of environment. S surface control mehtod is a simple and effective non-linear control method,but its parameters must be manually set. This paper puts forward a fuzzy control method based on variable domain and interpolation for parameter selftuning,especially to solve the problem of falling into local optimization of a point. This method can guarantee the global optimization of control parameters and the accuracy of fuzzy controller under the established rules. The test result indicates that fuzzy S surface control mehtod based on variable domain and interpolation ensures control accuracy and strong robustness.
fuzzy S surface variable domain interpolation contraction-expansion factor
Li Ji-qing Wan Lei He Bin
Harbin Engineering University,Harbin,China
国际会议
西安
英文
472-475
2011-12-23（万方平台首次上网日期，不代表论文的发表时间）