| 基于模糊航向制导的AUV航迹控制方法研究 |
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| 引用本文： | 任洪亮,李莉,边信黔.基于模糊航向制导的AUV航迹控制方法研究[J].应用科技,2004,31(12):43-45. |
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| 作者姓名： | 任洪亮 李莉 边信黔 |
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| 作者单位： | 1. 哈尔滨工程大学,动力与核能工程学院,黑龙江,哈尔滨,150001
2. 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 提出了基于模糊航向制导的水下机器人间接航迹控制方法，航向制导环采用模糊算法进行最优艏向实时解算，再以此艏向作为期望航向进行航向控制；为提高系统的鲁棒性和自适应性能，航向控制环采用滑模控制器，最终实现AUV的航迹跟踪，最后，根据此方法进行了航迹跟踪试验，结果表明模糊艏向解算器的航迹控制精度要大大高于PID艏向解算器，并且设计方法易于理解，便于工程设计和应用。
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| 关 键 词： | 水下机器人 模糊制导解算器 滑模控制 航迹跟踪 |
| 文章编号： | 1009-671X(2004)12-0043-03 |
| 修稿时间： | 2004年1月15日 |
Research on fuzzy heading guidance based track keeping method for AUV |
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| REN Hong-liang,LI Li,BIAN Xin-qian.Research on fuzzy heading guidance based track keeping method for AUV[J].Applied Science and Technology,2004,31(12):43-45. |
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| Authors: | REN Hong-liang LI Li BIAN Xin-qian |
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| Abstract: | A fuzzy guidance solver based indirect track-keeping control method for autonomous underwater vehicle (AUV) is investigated.The fuzzy guidance solver is put forward to calculate the real-time optimal bow angle based on the track error on the horizontal plane, and a sliding mode controller is designed for head keeping to improve the robustness. Finally, the simulation results of several track-keeping experiments show that the performance of fuzzy guidance solver is better than that of PID solver and is easy to learn and convenient. |
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| Keywords: | AUV fuzzy guidance solver sliding mode control track keeping |
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