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Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments
المؤلفون المشاركون
Zhang, Wei
Chen, Haitian
Ren, Hongliang
Chen, Tao
Yan, Zheping
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2014، العدد 2014 (31 ديسمبر/كانون الأول 2014)، ص ص. 1-10، 10ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2014-06-11
دولة النشر
مصر
عدد الصفحات
10
التخصصات الرئيسية
الملخص EN
The underwater recovery of autonomous underwater vehicles (AUV) is a process of 6-DOF motion control, which is related to characteristics with strong nonlinearity and coupling.
In the recovery mission, the vehicle requires high level control accuracy.
Considering an AUV called BSAV, this paper established a kinetic model to describe the motion of AUV in the horizontal plane, which consisted of nonlinear equations.
On the basis of this model, the main coupling variables were analyzed during recovery.
Aiming at the strong coupling problem between the heading control and sway motion, we designed a decoupling compensator based on the fuzzy theory and the decoupling theory.
We analyzed to the rules of fuzzy compensation, the input and output membership functions of fuzzy compensator, through compose operation and clear operation of fuzzy reasoning, and obtained decoupling compensation quantity.
Simulation results show that the fuzzy decoupling controller effectively reduces the overshoot of the system, and improves the control precision.
Through the water tank experiments and analysis of experimental data, the effectiveness and feasibility of AUV recovery movement coordinated control based on fuzzy decoupling method are validated successful, and show that the fuzzy decoupling control method has a high practical value in the recovery mission.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Zhang, Wei& Chen, Haitian& Chen, Tao& Yan, Zheping& Ren, Hongliang. 2014. Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-500734
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Zhang, Wei…[et al.]. Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments. Mathematical Problems in Engineering No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-500734
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Zhang, Wei& Chen, Haitian& Chen, Tao& Yan, Zheping& Ren, Hongliang. Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-500734
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-500734
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
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