A fuzzy motion control of AUV based on apery intelligence
Ye Li, Yongjie Pang, Lei Wan, Xu-Dong Tang · 2009
Fussy control is restricted by complexity of fussy rules, in the motion control of underwater vehicle. Aiming at adjustment of fussy rules, after decoupling of 6 DOF, the alterable-rule algorithm of fussy control is brought forward, in underwater vehicle motion control. Motion controller of underwater vehicle is designed by apery intelligence. The advantages of S-plane control and fussy control are integrated. The domain of fussy control is compressed. Language variables are added, which help enhance the sensitivity and precision. The motion control experiments of ldquoMini-dragon-1rdquo underwater vehicle are done in pool and lakes. Control effect is good.