论文标题
一个基于模糊逻辑的级联控制，没有执行器饱和的无执行的水下车辆轨迹跟踪
A Fuzzy Logic-based Cascade Control without Actuator Saturation for the Unmanned Underwater Vehicle Trajectory Tracking
论文作者
论文摘要
提出了一种智能控制策略，以消除无人驾驶水下车辆（UUV）轨迹跟踪过程中存在的执行饱和问题。控制策略由两个部分组成：对于运动学建模部分，开发了模糊逻辑改造的后替态控制，以实现可接受的范围内的控制速度和小波动的错误；根据改进的运动学控制扣除的速度，在动态建模中引入了滑动模式控制（SMC），以获得应应用于车身的相应扭矩和力。通过运动模型计算的控制速度和由动态模型得出的施加力，可以实现UV轨迹的稳健性和准确性，而无需执行操纵器饱和。
An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic modeling part, a fuzzy logic-refined backstepping control is developed to achieve control velocities within acceptable ranges and errors of small fluctuations; on the basis of the velocities deducted by the improved kinematic control, the sliding mode control (SMC) is introduced in the dynamic modeling to obtain corresponding torques and forces that should be applied to the vehicle body. With the control velocities computed by the kinematic model and applied forces derived by the dynamic model, the robustness and accuracy of the UUV trajectory without actuator saturation can be achieved.
