S control of automatic underwater vehicles
LIU Xue-min, XU Yu-ru(Dept. of Naval Architecture and Ocean Eng., Harbin Engineering University, Harbin 150001, China)
Owing to the nonlinearity of automatic underwater vehicles (AUV), many uncertainties of the system, big noises of sensors in the harbor, and the precise control of AUV in some intelligent oporations have been puzzling us in the application of AUV. There are three common methods, i.e. PID control, neural control and fuzzy control, but all of them have different limitations. Based on the analysis of fuzzy control, combined with the form of PID control, we have obtained a new control method (named S control) to resolve this problem. In the pool and sea experiments, we find that the precision of position and the performance of control are all satisfying.
【CateGory Index】： TP249