基于模糊混合控制的自治水下机器人路径跟踪控制

基于模糊混合控制策略,本文提出了一种用于非线性欠驱动自治水下机器人的鲁棒路径跟踪控制方法.利用Sugeno型模糊推理系统,将PD滑模控制器与非奇异终端滑模控制器光滑连接,构造了模糊混合控制器.它能充分融合这两类控制器的优势,无论系统远离平衡点还是在其附近,都能取得快速收敛的效果.如果,借助于非时间参考量,将该混合控制器用于自治水下机器人路径跟踪控制,将有利于提高它在不确定环境中的跟踪能力.最后,通过仿真计算结果验证了该控制策略的有效性.

Path following control of autonomous underwater vehicle based upon fuzzy hybrid control

Based upon a fuzzy hybrid control strategy,a robust path-following control method is proposed for a nonlinear and underactuated autonomous underwater vehicle.The fuzzy hybrid controller is constructed through smoothly combining a PD sliding mode controller and a non-singularity terminal sliding mode controller by using Sugeno fuzzy inference,which integrates the advantages of two controllers to obtain fast transient convergence at any distance from the equilibrium.This hybrid controller can be used for path following control of autonomous underwater vehicle with a non-time reference for improving the tracking capability of AUV in uncertain environment.The effectiveness of the proposed control strategy is verified by simulation results.