An Application of the Improved Hybrid Fuzzy PID Control System

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	An Application of the Improved Hybrid Fuzzy PID Control System
	Lin CL(林昌龙); Feng XS(封锡盛); Gong PL(公丕亮); Jin Z(金忠)
	2008
会议名称	7th World Congress on Intelligent Control and Automation
会议日期	June 25-27, 2008
会议地点	Chongqing, China
关键词	hybrid fuzzy PID control pump-propelled autonomous underwater vehicle
页码	5704-5709
中文摘要	In this paper, the hybrid fuzzy PID control system of a pump-propelled autonomous underwater vehicle is presented. The small low-cost vehicle named "U-FISH" is the first one propelled and controlled by four pumps mounted on the stern. Due to the difficulty of building the model and the restriction of the computing power of the micro-controller, the hybrid fuzzy PID control algorithm, which is model-free and easy to realized, is a wise choice for this complex system. The open-loop experiments are firstly carried out to obtain the parameters of the vehicle, according to which we design the control law in details for the horizontal plane and the vertical plane separately. Finally, the close-loop experiments in which the U-FISH travels at different heading angles and depths show that the complex system responds quickly and reaches a satisfactory steady state in both of the planes simultaneously. Based upon the results, the feasibility of the control law is validated.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
会议录	2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2113-8
WOS记录号	WOS:000259965704157
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7796]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Lin CL,Feng XS,Gong PL,et al. An Application of the Improved Hybrid Fuzzy PID Control System[C]. 见:7th World Congress on Intelligent Control and Automation. Chongqing, China. June 25-27, 2008.