基于模糊补偿的深海作业级远程操控潜水器#br# 自适应位姿控制

摘要： 针对参数变化、流以及其他未知干扰对深海作业级远程操控潜水器(ROV)位姿控制的影响，设计了基于模糊补偿的ROV自适应位姿控制器.从大地坐标系下的ROV系统模型中分离出由于参数变化、流以及其他未知因素所产生的干扰力/力矩，并分析了干扰力/力矩的变化特性，利用模糊逻辑系统(FLS)进行逼近，设计基于干扰力/力矩模糊补偿的ROV自适应位姿控制器；同时，为了消除逼近误差的影响，设计了稳健自适应控制律.结果表明：FLS能够以较高的精度逼近ROV所受到的干扰力/力矩；所设计的基于模糊补偿的深海作业级ROV自适应位姿控制器具有良好的跟踪性能、抗干扰能力和稳健性.

Adaptive Position and Attitude Control for Deep Sea Work Class#br# Remotely Operated Underwater Vehicle Based on Fuzzy Compensation

Abstract： To overcome the impact of parameter variations, current and other unknown disturbance on the position and attitude control of deep sea work class remotely operated underwater vehicle (ROV), an adaptive position and attitude controller for the ROV was designed based on fuzzy compensation. The disturbance force and moment generated by parameter variations，current and other unknown disturbance were isolated from mathematical model of ROV in the fixed coordinate system, and a fuzzy logic system (FLS) was used to approximate the force and moment. An adaptive position and attitude controller for the ROV based on fuzzy compensation of the force and moment was designed. In order to decrease the effect of approximation error we also applied the robust adaptive control law. The results of numerical simulation indicated that the disturbance force and moment acting on ROV can be approximated with high precision by using FLS, and the designed controller achieves strong anti disturbance ability, tracking performance and robustness.