Research on fuzzy control of path tracking for underwater vehicle based on genetic algorithm optimization

被引：58
|
作者：
Chen, JiaWang [1 ]
Zhu, Huangchao [1 ]
Zhang, Lei [1 ]
Sun, Yuxia [1 ]
机构：
[1] Zhejiang Univ, Zhoushan 316000, Peoples R China
来源：
OCEAN ENGINEERING | 2018年 / 156卷
关键词：
Underwater vehicle; Path tracking; Fuzzy control; Genetic algorithm; REMOTELY OPERATED VEHICLE; NAVIGATION;
D O I：
10.1016/j.oceaneng.2018.03.010
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
The path tracking problem of underwater robots in different working conditions is studied. According to the analysis of the control model for underwater robots, a path tracking method for underwater robots based on a line-of-sight method is proposed. Based on the fuzzy control algorithm, a fuzzy controller is designed, which is further optimized by a genetic algorithm. The fuzzy control method developed is applied to the path tracking of a self-made underwater vehicle, and tested by both simulation and experiment. Results show that with the path control method based on the fuzzy controller optimized by the genetic algorithm ensures that the vehicle sails along the expected path. Also, the system shows strong robustness.
引用
收藏
页码：217 / 223
页数：7
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