DocumentCode :
2638088
Title :
Fuzzy S plane controller for motion control of underwater vehicles
Author :
Ma, Shan ; Pang, Yong-Jie ; Zhang, Tie-Dong ; Lv, Chong
Author_Institution :
Nat. Defence Key Lab. of Autonomous Underwater Vehicle Technol., Harbin Eng. Univ., Harbin, China
fYear :
2011
fDate :
21-23 June 2011
Firstpage :
1640
Lastpage :
1645
Abstract :
Autonomous Underwater Vehicle (AUV) has a strong-coupling nonlinear motion system. Thus, nonlinearity must be considered in the design of AUV´ control system. And the control method which is independent of model must be taken into account, too. Fuzzy S plane controller was adopted to solve the motion control problem under various velocities in the paper. Fuzzy control principle was used to adjust parameters of classical S plane controller on line. Therefore, AUV could adapt itself to environments under various velocities. Simulation experiments were carried out. The result showed that the fuzzy S plane controller had smaller overshoot and shorter response time than the classical one. Thus, the fuzzy one could ensure robustness and improve control performance of AUV.
Keywords :
fuzzy control; motion control; nonlinear control systems; remotely operated vehicles; underwater vehicles; AUV control system; autonomous underwater vehicle; fuzzy S plane controller; motion control; strong-coupling nonlinear motion system; Acceleration; Equations; Force; Hydrodynamics; Mathematical model; Position control; Velocity control; Autonomous Underwater Vehicle (AUV); fuzzy S plane; motion control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location :
Beijing
ISSN :
pending
Print_ISBN :
978-1-4244-8754-7
Electronic_ISBN :
pending
Type :
conf
DOI :
10.1109/ICIEA.2011.5975853
Filename :
5975853
Link To Document :
بازگشت