Title :
Fuzzy Control Strategy of Sub-mini Underwater Robots in Rectifying Control
Author :
Yuyi, Zhai ; Liang, Liu ; Lei, Wang ; Zhenbang, Gong
Author_Institution :
Shanghai Univ., Shanghai, China
Abstract :
In this paper, fuzzy control strategy is used to improve the stability of sub-mini underwater robots. The sub-mini underwater robots´ fuzzy control method in the horizontal plane is mainly discussed here. Based on the language description of the model and according to the closed-loop system´s dynamic model, the fuzzy controller language is educed with the inversion of the language model. The closed-loop system´s stability can be ensured with this method, and its application on sub-mini underwater robots has not been reported yet. Results from simulation and experiments indicate that this control method has better stability and anti-jamming performance than variable structure PID control method.
Keywords :
fuzzy control; mobile robots; stability; underwater vehicles; closed-loop system; dynamic model; fuzzy control; language model; rectifying control; stability; submini underwater robots; Control system synthesis; Control systems; Fuzzy control; Fuzzy systems; Interference; Open loop systems; Robot control; Stability; Torque control; Voltage control; PID control; fuzzy control; fuzzy inverse model; propulsion system; rectifying control;
Conference_Titel :
Fuzzy Systems and Knowledge Discovery, 2009. FSKD '09. Sixth International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-0-7695-3735-1
DOI :
10.1109/FSKD.2009.316