自主水下航行器的模糊控制  

Fuzzy Control of Autonomous Underwater Vehicles

作　　者：曹辉进[1] 侯巍[1] 王树新[1] 

机构地区：[1]天津大学机械学院,天津300072

出　　处：《空军雷达学院学报》2004年第1期73-75,共3页Journal of Air Force Radar Academy

基　　金：国家863高新技术资助项目(2001AA632010)

摘　　要：模糊控制用于水下航行器时,模糊决策表大多是依据模糊控制理论推导得到,这在工程实现上有一定的难度.为了在控制器设计中避开复杂的模糊逻辑理论,从AUV的控制特点出发总结出调整模糊控制决策表的规律,由此可以方便地获得控制决策表.本文以深度控制为例给出了控制决策表,仿真结果表明了该方法的正确性.In view of fuzzy decision table being mostly derived from fuzzy control theory when it is used for au-tonomous underwater vehiles (AUV), which can not be easily implemented in engineering, this paper summarizes the laws of regulating fuzzy control decision table starting from AUV control features, by which the control decision table can be easily obtained. It also gives out the control decision table, taking an example of depth control Simulation results show the feasibility of the summarized principles.

关 键 词：自主式水下航行器:模糊控制 控制决策表 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]