[1]庞永杰,李 晔 .带翼水下机器人的非线性拟合分段控制方法[J].智能系统学报,2009,4(3):258-263.
　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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带翼水下机器人的非线性拟合分段控制方法

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 4 期数: 2009年第3期 页码: 258-263 栏目: 学术论文—智能系统 出版日期: 2009-06-25
Title:
Nonlinear fitted step control method for a winged micro autonomous underwater vehicle
文章编号:
1673-4785(2009)03-0258-06
作者:
庞永杰1，2, 李  晔1，2
1. 哈尔滨工程大学 水下机器人技术国防科技重点实验室，黑龙江 哈尔滨 150001；
 2. 哈尔滨工程大学 船舶工程学院，黑龙江 哈尔滨 150001
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
关键词:
水下机器人; 非线性控制; 深度控制; TS模型;  S面控制器
Keywords:
underwater vehicle;  nonlinear control;  depth control;  TS model;  S surface controller
分类号:
TP24
文献标志码:
A
摘要:
S面控制方法可较好地解决水下机器人的运动控制问题，但由于其参数是固定的，无法达到全局最优.不同航渡速度段，采取不同的控制参数值，可保证水动力不同阶段控制输出的最优；但在速度变化的分界点，控制器输出有跳变，不利于系统的全局稳定性.利用TS模糊系统逼近非线性连续函数的能力，采用非线性的S面函数作为模糊系统的后件，设计了基于TS模型的S面控制器.通过TS模型的引入，避免了控制器输出的跳变，增强了系统稳定性.将该方法应用于带翼水下机器人的深度控制，水池试验和湖中实验均证明了算法的有效性.
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.
参考文献/References:
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备注/Memo

收稿日期：2008-12-16.
基金项目： 国家“863”计划资助项目(2008AA092301)；
水下机器人技术国防科技重点实验室开放课题研究基金资助项目(2007001).
通信作者：李 晔.E-mail:liye@hrbeu.edu.cn.
作者简介： 庞永杰，男，1955年生，教授，博士生导师，第三、四届海洋工程学会理事.主要研究方向为水下机器人总体设计与运动控制技术.目前主持和参与省部级以上科研项目8项，获得国家科技进步二等奖1次，国防科学技术一、二、三等奖各一次.发表学术论文50余篇.
李 晔，男，1978年生，副教授.主要研究方向为水下机器人规划与运动控制技术.目前参与省部级以上科研项目4项，发表学术论文20余篇

更新日期/Last Update: 2009-08-31
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