【摘要】 提出了基于模糊航向制导的水下机器人间接航迹控制方法,航向制导环采用模糊算法进行最优艏向实时解算,再以此艏向作为期望航向进行航向控制;为提高系统的鲁棒性和自适应性能,航向控制环采用滑模控制器,最终实现AUV的航迹跟踪.最后,根据此方法进行了航迹跟踪试验,结果表明模糊艏向解算器的航迹控制精度要大大高于PID艏向解算器.并且设计方法易于理解,便于工程设计和应用.更多还原

【Abstract】 A fuzzy guidance solver based indirect track-keeping control method for autonomous underwater vehicle (AUV) is investigated.The fuzzy guidance solver is put forward to calculate the real-time optimal bow angle based on the track error on the horizontal plane, and a sliding mode controller is designed for head keeping to improve the robustness. Finally, the simulation results of several track-keeping experiments show that the performance of fuzzy guidance solver is better than that of PID solver and is easy to learn and convenient.更多还原