Title :
A novel ROV depth control based on LSM fitting predictor and fuzzy compensation
Author :
Tang, Zhijie ; Yan, Peng ; Luojun
Author_Institution :
Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai, China
Abstract :
This paper presents a nonlinear depth control method for the remotely operated underwater vehicle. This paper establishes the vertical motion model and uses least squares multi-order data fitting polynomial prediction and fuzzy compensation combined with PID controller. Simulation results show that the method has a good dynamic response and overshoot suppression feature.
Keywords :
dynamic response; fuzzy control; least squares approximations; motion control; nonlinear control systems; polynomials; remotely operated vehicles; three-term control; underwater vehicles; LSM fitting predictor; PID controller; ROV depth control; dynamic response; fuzzy compensation; least squares multiorder data fitting polynomial prediction; nonlinear depth control; overshoot suppression feature; remotely operated underwater vehicle; vertical motion model; LSM fitting; ROV; depth control; fuzzy compensation; overshoot suppression;
Conference_Titel :
Advanced Computer Theory and Engineering (ICACTE), 2010 3rd International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-6539-2
DOI :
10.1109/ICACTE.2010.5579496
