Title :
Study on the Control of GDROV Based on Fuzzy Direct Adaptive Theory
Author :
Sun, Yushan ; Wan, Lei ; Liang, Xiao ; Xu, Yuru
Author_Institution :
Harbin Eng. Univ., Harbin
Abstract :
General Detection Remotely Operated Vehicle (GDROV) is a kind of open-frame remotely operated underwater vehicle designed for the inspection of cracks, crevices and other potential problems of the dams. It is difficult to model the GDROV precisely. A fuzzy direct adaptive controller based on fuzzy basic functions is designed for GDROV motion control system. By adjusting fuzzy logic adaptive law dynamically the control system can approach the optimal control output. In the paper, the configuration and motion control system of GDROV are introduced firstly and the model of GDROV is established. The fuzzy direct adaptive control theory based on fuzzy logic basic functions is presented in detail. Finally, simulation tests and lake experiments are conducted to verify the robustness of the controller and the ability for path tracking.
Keywords :
adaptive control; dams; fuzzy control; fuzzy logic; inspection; optimal control; remotely operated vehicles; GDROV control; General Detection Remotely Operated Vehicle; crack inspection; crevice inspection; dam inspection; fuzzy basic functions; fuzzy direct adaptive control theory; fuzzy direct adaptive controller; fuzzy direct adaptive theory; fuzzy logic adaptive law; fuzzy logic basic functions; motion control system; open-frame remotely operated underwater vehicle; optimal control; path tracking; Adaptive control; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Motion control; Optimal control; Programmable control; Remotely operated vehicles; Vehicle detection; General Remotely Operated Vehicle (GDROV); fuzzy basic functions; fuzzy logic;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4304096