[1]PANG Yong-jie,LI Ye.Nonlinear fitted step control method for a winged micro autonomous underwater vehicle[J].CAAI Transactions on Intelligent Systems,2009,4(3):258-263.
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Nonlinear fitted step control method for a winged micro autonomous underwater vehicle

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 4 Number of periods: 2009 3 Page number: 258-263 Column: 学术论文—智能系统 Public date: 2009-06-25
Title:
Nonlinear fitted step control method for a winged micro autonomous underwater vehicle
Author(s):
PANG Yong-jie1; 2;  LI Ye1; 2
1.State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China;
2. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
Keywords:
underwater vehicle;  nonlinear control;  depth control;  TS model;  S surface controller
CLC:
TP24
DOI:
-
Abstract:
The Ssurface controller is generally a good tool for motion control of underwater vehicles, yet it cannot reach a global optimum, for its parameters are constants. If different parameters are used at different velocities, control output is optimal at those different hydrodynamic phases. Unfortunately this causes the output of the controller to have abrupt changes at the boundaries of velocity subsections, affecting the global stability of the system. To overcome this, a TakagiSugeno (TS) fuzzy model was employed to approach nonlinear continuous functions and the nonlinear Ssurface functions were used as the latter of the fuzzy system. On this basis, an Ssurface controller was designed. With the introduction of the TS model, abrupt changes in controller output were avoided, making the system more stable. Experiments in a water tank and lakes proved the validity of the algorithm.
References:
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