基于Mamdani推理法的双体无人艇模糊控制器设计

为研究适用于双体无人艇的运动控制方法，研究模糊控制技术在航速/航向这2个运动控制方面的应用。构建航速/航向模糊控制器：在航速控制器中选取三角形型隶属函数进行模糊化，在航向控制器中选取高斯型隶属函数进行模糊化；根据人的控制经验形成规则库；选取Mamdani法作为模糊推理方法；选取面积重心法作为解模糊的方法。仿真结果表明，模糊控制方法在双体无人艇的航速/航向控制是有效的。

Design of Fuzzy Controller for Unmanned Catamaran Based on Mamdani Reasoning Method

In order to study the motion control method suitable for the special characteristics of the unmanned catamaran, the application of fuzzy control technology in the motion control of speed and course is studied. The fuzzy controller of speed and course is constructed: the triangular membership function is selected in the speed fuzzy controller, the Gaussian membership function is selected in the course fuzzy controller; the rule base is formed according to human control experience; Mamdani method is selected as fuzzy inference method; area center of gravity method is selected as deblurring method. The simulation results show that the fuzzy control method is effective in the speed and course control of the unmanned catamaran.