{"title":"水下机器人航行器平面运动模糊控制","authors":"J. Garus","doi":"10.1145/1456223.1456234","DOIUrl":null,"url":null,"abstract":"The paper deals with synthesis of automatic control system for an undersea robotic vehicle. Command signals are generated by an autopilot consisting of three fuzzy controllers. A horizontal motion is regarded and the way-point line of sight scheme is incorporated to following a desired path. A method of power distribution in a multi-thruster propulsion system of the undersea robot is also presented. It concentrates on finding an optimal thrust allocation and directs towards minimisation of energy expenditures necessary to obtain required control. An illustrative example is provided to demonstrate correctness and quality of the approach.","PeriodicalId":309453,"journal":{"name":"International Conference on Soft Computing as Transdisciplinary Science and Technology","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Fuzzy control of undersea robotic vehicle in plane motion\",\"authors\":\"J. Garus\",\"doi\":\"10.1145/1456223.1456234\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper deals with synthesis of automatic control system for an undersea robotic vehicle. Command signals are generated by an autopilot consisting of three fuzzy controllers. A horizontal motion is regarded and the way-point line of sight scheme is incorporated to following a desired path. A method of power distribution in a multi-thruster propulsion system of the undersea robot is also presented. It concentrates on finding an optimal thrust allocation and directs towards minimisation of energy expenditures necessary to obtain required control. An illustrative example is provided to demonstrate correctness and quality of the approach.\",\"PeriodicalId\":309453,\"journal\":{\"name\":\"International Conference on Soft Computing as Transdisciplinary Science and Technology\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-10-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Conference on Soft Computing as Transdisciplinary Science and Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/1456223.1456234\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Conference on Soft Computing as Transdisciplinary Science and Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/1456223.1456234","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Fuzzy control of undersea robotic vehicle in plane motion
The paper deals with synthesis of automatic control system for an undersea robotic vehicle. Command signals are generated by an autopilot consisting of three fuzzy controllers. A horizontal motion is regarded and the way-point line of sight scheme is incorporated to following a desired path. A method of power distribution in a multi-thruster propulsion system of the undersea robot is also presented. It concentrates on finding an optimal thrust allocation and directs towards minimisation of energy expenditures necessary to obtain required control. An illustrative example is provided to demonstrate correctness and quality of the approach.
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