【摘要】 由于水下机器人系统的非线性动力学特性和工作环境的复杂性和不确定性,如何更好地设计水下机器人作业时的运动控制器一直是其实用化过程中没能得到很好解决的问题。结合模糊逻辑和S面控制,利用T-S推理结构,设计了一种兼具局部和全局调整功能的模糊非线性PD(FNPD)控制器,仿真结果表明,其控制效果要优于采用单一控制参数的S面控制器。更多还原

【Abstract】 Due to the nonlinearity and uncertainty of ROV, the problem of how to control ROV precisely in intelligent tasks has not yet been solved very well. A novel control unit which can be tuned both globally and locally is devised by combining fuzzy logic and SPC in the frame of T-S deduction structure. Simulation results show that it can perform better than SPC with fixed parameters.更多还原