【摘要】 由于自治水下机器人(AUV)动力学的非线性、模型参数以及海洋环境扰动的不确定性,基于常规PID控制的AUV性能通常不够理想。本文应用模糊控制对PID控制器的参数进行在线调整,从而使PID控制器具有自适应性以适应AUV工况的变化,并应用此策略为小型AUVSubzeroIII设计了自主航行控制系统,仿真结果验证了本策略的有效性。更多还原

【Abstract】 Due to the non-linear dynamics of autonomous underwater vehicles (AUVs) and large amount of uncertainties involved in model parameters (e.g. hydrodynamic coefficients) and environmental disturbances, the performance of AUVs which are controlled by traditional PID (proportional-integral-derivative) based schemes is usually unsatisfactory. To adapt PID controllers to variable operational conditions of AUVs, fuzzy logic is utilized to on-line tune the parameters of PID controllers and thus forms a fuzzy PID control scheme. The scheme is then applied to develop the autopilots of forward speed, heading and depth for a small AUV-Subzero III and numerical simulations results show the effectiveness of the scheme.更多还原