Design and Simulation of a Self-adaptive Fuzzy-PID Controller for an Autonomous Underwater Vehicle

被引：1

作者：

Zhao, Jianhong ^{[1
]}

Yi, Wei ^{[1
]}

Peng, Yuanxi ^{[1
]}

Peng, Xuefeng ^{[1
]}

机构：

[1] Natl Univ Def Technol, Coll Comp, State Key Lab High Performance Comp, Changsha 410073, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT I | 2017年 / 10462卷

关键词：

AUV; Modeling; Simulation; Fuzzy-PID; Dead zone;

D O I：

10.1007/978-3-319-65289-4_80

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 recent years, AUV (autonomous underwater vehicle) has been applied to many fields, such as offshore oil exploitation, underwater target detection, military applications and so on, which raises a higher demand for accuracy control of AUV. In this paper, for the rim-drive dead zone and system nonlinearity problem of "Swordfish II" autonomous underwater vehicle in the actual control process, according to the shape and motion characteristics of the AUV, the six DOF (degrees of freedom) dynamic model is established under MATLAB/Simulink. The fuzzy control theory and the traditional PID control algorithm are combined to design a fuzzy-PID controller. Finally, we construct the simulation system. The simulation results show that the designed controller can control the AUV model and solve the dead zone problem well, and the fuzzy PID controller has better control effect than the traditional pid controller.

引用

页码：867 / 878

页数：12

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