Adaptive Position and Attitude Control for Deep Sea WorkClass#br#
 Remotely Operated Underwater Vehicle Based on Fuzzy Compensation

Abstract

Abstract:

Abstract： To overcome the impact of parameter variations, current and other unknown disturbance on the position and attitude control of deep sea workclass remotely operated underwater vehicle (ROV), an adaptive position and attitude controller for the ROV was designed based on fuzzy compensation. The disturbance force and moment generated by parameter variations，current and other unknown disturbance were isolated from mathematical model of ROV in the fixed coordinate system, and a fuzzy logic system (FLS) was used to approximate the force and moment. An adaptive position and attitude controller for the ROV based on fuzzy compensation of the force and moment was designed. In order to decrease the effect of approximation error we also applied the robust adaptive control law. The results of numerical simulation indicated that the disturbance force and moment acting on ROV can be approximated with high precision by using FLS, and the designed controller achieves strong antidisturbance ability, tracking performance and robustness.

Key words: remotely operated underwater vehicle (ROV), current disturbance, fuzzy logic system, position and attitude control

CLC Number:

P 754.3

HUO Xingxing,GE Tong,WANG Xuyang. Adaptive Position and Attitude Control for Deep Sea WorkClass#br# Remotely Operated Underwater Vehicle Based on Fuzzy Compensation[J]. Journal of Shanghai Jiaotong University, 2017, 51(4): 403-.

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Adaptive Position and Attitude Control for Deep Sea WorkClass#br# Remotely Operated Underwater Vehicle Based on Fuzzy Compensation

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