期刊
OCEAN ENGINEERING
卷 121, 期 -, 页码 123-133出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2016.05.034
关键词
Underactuated underwater vehicle; Fuzzy inverse trajectory compensator; Computed-torque controller; Uncertain dynamics
资金
- National Natural Science Foundation of China [51375264]
- Science and Technology Major Project of Shandong Province [2015JMRH0218]
- State Key Laboratory of Robotics and System (HIT) [SKLRS-2015-MS-06]
- China Post-doctoral Science Foundation [2014T70632, 2013M530318]
- Research Awards Fund for Excellent Young and Middle-aged Scientists of Shandong Province [BS2013ZZ008]
An independent adaptive fuzzy control system of nominal dynamics and uncertain parts is proposed to control an underactuated underwater vehicle with uncertainties based on computed-torque controller. A type of fuzzy inverse trajectory compensator as a nonlinear filter at input trajectory level outside the control loop is developed to compensate for uncertainties by modifying the desired trajectory outside the control loop and to address the issue of unavailable normalising factor. Trajectory tracking performances of the proposed control technique and of the computed-torque controller are compared. The proposed control scheme is simulated, and its efficiency is validated using numerical simulations of a 3-DOF underactuated underwater vehicle. Results confirm that the adaptive fuzzy compensator at the input trajectory level offers better trajectory tracking performances and easier practical implementation than other fuzzy compensation techniques at joint torque level. (C) 2016 Elsevier Ltd. All rights reserved.
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