کنترل تطبیقی فازی شناور زیر سطحی خودگردان به منظور ردیابی مسیر

نوع مقاله: مقاله پژوهشی

نویسندگان

1 کارشناس ارشد /دانشگاه آزاد اسلامی، واحد نجف آباد

2 استادیار /دانشگاه آزاد اسلامی، واحد نجف آباد

چکیده

در این مطالعه، مساله موقعیت و ردیابی برای شناور زیر سطحی خودگردان در صفحه افقی، در شرایط حضور جریان‌های دریایی به عنوان اغتشاش مورد بحث قرار می‌گیرد. در این تحقیق، اثر تغییرات و نامعینی در پارامترها مد نظر قرار می‌گیرد. عملکرد مطلوب کنترل کننده تطبیقی با بهره ثابت با خطی سازی فیدبک و همچنین با روش کنترل تطبیقی با بهره فازی مقایسه شده است. روش کنترلی ارائه شده در شبیه سازی‌ها مورد آزمایش و بررسی قرار گرفته است. همچنین، کارآیی روش کنترلی ارائه شده با روش‌های کنترلی دیگر در برخی از تحقیقات مقایسه شده‌اند. کران دار بودن و آنالیز مشخصات همگرایی مجانبی الگوریتم کنترلی و پایداری آن با استفاده از تئوری پایداری لیاپانوف و به کمک لم باربالات اثبات و ارائه شده است.

کلیدواژه‌ها


عنوان مقاله [English]

Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle

نویسندگان [English]

  • Saeed Nakhkoob 1
  • Abbas Chatraei 2
  • Khoshnam Shojaei 2
1 MSc /Islamic Azad University of Najaf abad
2 Assistant Professor /Islamic Azad University of Najaf abad
چکیده [English]

In this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma.

کلیدواژه‌ها [English]

  • Autonomous underwater vehicles
  • Adaptive control
  • nonlinear control
  • fuzzy approximation
 

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