滑模模糊控制应用于自治水下机器人的实验研究
| Data(s) |
2002
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|---|---|
| Resumo |
分析了自治水下机器人 (AUV )的控制特点 ,论述了滑模模糊控制 (SMFC)的基本原理 ,并在6 0 0 0 m自治水下机器人“CR- 0 2”上进行了仿真和水池实验。结果表明 ,滑模模糊控制的性能明显优于PID控制 ,在强干扰时表现出良好的鲁棒性 The specialities of AUV control system and sliding mode fuzzy control are analyzed. A sliding mode fuzzy controller for AUV′s heading keep loop is designed. Simulation and pool test are carried out on 6 000 m AUV "CR 02". The results show that the controller is better in comparison with traditional PID controller, especially under strong disturbance. 国家 8 6 3计划项目 (992 3- 0 2 ) |
| Identificador | |
| Idioma(s) |
中文 |
| Palavras-Chave | #自治水下机器人控制 #滑模模糊控制 #模糊控制 |
| Tipo |
期刊论文 |
