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Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments
Joint Authors
Zhang, Wei
Chen, Haitian
Ren, Hongliang
Chen, Tao
Yan, Zheping
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-06-11
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-500734