A fuzzy motion control of AUV based on apery intelligence

Author

Li Ye ; Pang Yong-jie ; Wan Lei ; Tang Xu-Dong

Author_Institution

State Key Lab. of Autonomous Underwater Vehicle, Harbin Eng. Univ., Harbin, China

fYear

2009

fDate

17-19 June 2009

Firstpage

1316

Lastpage

1321

Abstract

Fussy control is restricted by complexity of fussy rules, in the motion control of underwater vehicle. Aiming at adjustment of fussy rules, after decoupling of 6 DOF, the alterable-rule algorithm of fussy control is brought forward, in underwater vehicle motion control. Motion controller of underwater vehicle is designed by apery intelligence. The advantages of S-plane control and fussy control are integrated. The domain of fussy control is compressed. Language variables are added, which help enhance the sensitivity and precision. The motion control experiments of ldquoMini-dragon-1rdquo underwater vehicle are done in pool and lakes. Control effect is good.

Keywords

fuzzy control; mobile robots; motion control; remotely operated vehicles; underwater vehicles; S-plane control; alterable-rule algorithm; apery intelligence; fuzzy motion control; underwater vehicle; underwater vehicle motion control; Automotive engineering; Educational institutions; Fuzzy control; Intelligent control; Intelligent vehicles; Laboratories; Lakes; Motion control; Underwater vehicles; Wide area networks; apery intelligence; fuzzy control; motion control; underwater vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2009. CCDC '09. Chinese

Conference_Location

Guilin

Print_ISBN

978-1-4244-2722-2

Electronic_ISBN

978-1-4244-2723-9

Type

conf

DOI

10.1109/CCDC.2009.5192716

Filename

5192716