An Improved Generalized Predictive Control for AUV Yaw

被引：2
|
作者：
Tang, Zhijie [1 ]
He, Qingbo [1 ]
Wangshuai [1 ]
Shen, Jiali [1 ]
机构：
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200072, Peoples R China
来源：
MECHATRONICS AND INTELLIGENT MATERIALS II, PTS 1-6 | 2012年 / 490-495卷
关键词：
Fuzzy-PID; Generalized predictive control; yaw control;
D O I：
10.4028/www.scientific.net/AMR.490-495.1709
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new design for underwater vehicle yaw control is presented for nonlinear, large delay, time-varying systems. The horizontal stability controller combines generalized predictive control with FuzzyPID control method. The predictive function is introduced into the tradition FuzzyPID control through optimizing the performance index function of GPC. Computer simulation is provided for verification, and the results show this new controller has a better performance.
引用
收藏
页码：1709 / 1713
页数：5
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