带模糊防滑控制的深海机器人速度预测跟踪

面向深海“稀软底”作业机器人提出一种基于模糊控制的防滑控制方法，并采用带参数自校正模块的变维灰色预测控制器进行速度跟踪控制。防滑控制器能增强深海机器人的行驶速度与沉积物特性匹配，有效抑制作业机器人两侧履带的打滑，保证机器人在极限海底沉积物上安全行走作业。带自校正模块的变维预测速度跟踪算法，与单纯的PID速度跟踪、不带自校正模块的预测速度跟踪、不变维带自校正模块的预测速度跟踪相比，具有更好的速度跟踪性能和自适应性。仿真结果表明了算法的有效性。

Predictive Velocity-tracking of Deep-sea Robot with Fuzzy Anti-slipping Controller

For the working robot tracking on the deep-sea sediment,an anti-slipping controller based on fuzzy control is presented in this paper,and dimension-changed gray prediction with a parameter self-reverse model is used to track the given velocity. The tracking velocity of the deep-sea robot and the characters of the sediment can be matched by the anti-slipping controller,which can restrain the skip of the two tracks besides the robot;The dimension-changed gray prediction with a parameter self-reverse module do have a better tracking performance and self- adaptability,compared with simple PID velocity tracking,predictive velocity tracking system without the parameter self-reverse module,and the demension-fixed predictive velocity tracking system with the parameter self-reverse module. The simulated results shows the validity of the algorithm.