Nonlinear underwater robot controller design with adaptive disturbance prediction and smoother

被引：4

作者：

Song, Xin ^{[1
,2
,3
]}

Liu, Fang ^{[5
]}

Zou, ZaoJian ^{[2
,4
]}

Zhu, Yue-Min ^{[3
]}

Yin, JianChuan ^{[2
]}

Xu, Feng ^{[2
]}

机构：

[1] China Ship Res & Dev Acad, Beijing 100192, Peoples R China

[2] Shanghai Jiao Tong Univ, Sch Naval Architecture Ocean & Civil Engn, Shanghai 200240, Peoples R China

[3] Univ Lyon, CREATIS, CNRS, INSERM,INSA Lyon,UMR 5220,U630, F-69621 Villeurbanne, France

[4] Shanghai Jiao Tong Univ, State Key Lab Ocean Engn, Shanghai 200240, Peoples R China

[5] Zhejiang Ocean Univ, Sch Humanities, Zhoushan 316000, Peoples R China

来源：

INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS | 2011年 / 4卷 / 04期

基金：

中国国家自然科学基金;

关键词：

adaptive control; fuzzy sliding mode; underwater robot; disturbance prediction; compensation; SLIDING-MODE CONTROLLER; FUZZY; VEHICLES; SYSTEMS;

D O I：

10.2991/ijcis.2011.4.4.19

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A new hybrid adaptive control algorithm is proposed for the nonlinear system controller design of underwater robot. Compared with the previous works in the controller design of underwater robot, the main advantages of this work are: (1) A new disturbance prediction and compensation model is proposed; (2) A new adaptive fuzzy smoother is proposed for the control input; (3) A time-varying flow disturbance is considered for the control design which is always neglected in many previous works and several practical experiments under different environment were implemented to verify the control performance. The Lyapunov stability theory proves the stability and convergence of this new control system. Simulation and experiment results demonstrate the performance and the effectiveness of this new algorithm.

引用

页码：634 / 643

页数：10

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