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模糊滑模控制在AUV控制中的应用
Alternative TitleApplication of Fuzzy Sliding Mode Control for AUV Control
夏庆锋; 刘健
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2010
Volume26Issue:10Pages:26-28
Indexed ByCSCD
CSCD IDCSCD:4027814
Contribution Rank1
Funding Organization基金申请人:刘健;项目名称:用于水下运载器的小型低功耗惯性导航系统试验方法研究;基金颁发部门:国家863计划(2006AA09Z204-01)
Keyword自治水下机器人 模糊控制 滑模控制
Abstract本文针对自治水下机器人(AUV)的控制特点,建立了AUV水平面动力学的数学模型,将模糊逻辑引入到了滑模控制器的设计中,通过模糊控制规律直接设计滑模控制量,并运用计算机仿真手段进行了验证,仿真结果验证了该控制方法具有很好的控制性能,有效地消除了滑模控制的抖振,对外部扰动具有较强的鲁棒性,而且具有良好的响应特性。
Other AbstractIn this article,according to the characteristics of AUV (Autonomous Underwater Vehicle) control system,the mathematical model of horizontal plane is established,and then the fuzzy logic is used to design the sliding mode controller,the author design the sliding control parameter directly by fuzzy control rules,and then use computer simulation to verify the design,the computer simulation demonstrated that this proposed controller was effective,and the chattering on sliding mode control can be decreased,and t...
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7442
Collection水下机器人研究室
Corresponding Author夏庆锋
Affiliation1.机器人学国家重点实验室中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
夏庆锋,刘健. 模糊滑模控制在AUV控制中的应用[J]. 微计算机信息,2010,26(10):26-28.
APA 夏庆锋,&刘健.(2010).模糊滑模控制在AUV控制中的应用.微计算机信息,26(10),26-28.
MLA 夏庆锋,et al."模糊滑模控制在AUV控制中的应用".微计算机信息 26.10(2010):26-28.
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