基于Takagi-Sugeno模糊逻辑的自主水下航行器容错控制方案。

A. Carvalho, Chf Santos, G. Rocha
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引用次数: 1

摘要

用于海洋环境研究和检测的自主水下航行器(AUV)面临的主要问题是推进器在航行过程中出现故障,从而影响任务的执行。因此,本文提出了一种基于Levi-Civita连接和Takagi-Sugeno模糊逻辑的容错控制方法。首先描述了具有4个水平推进器和2个垂直推进器的水下航行器的六自由度非线性动力学和运动学方程,然后利用Takagi-Sugeno模糊逻辑提出了该水下航行器的容错控制方法。利用模糊逻辑,可以将故障推力器的力和力矩分布到使用同一作用平面的正常推力器中。通过仿真过程中两个水平推进器在特定时间内发生故障的数值模拟,验证了该控制方法的控制性能。该方法在水下航行器存在变电流干扰和两个推进器故障的情况下,仍能保持对水下航行器的良好跟踪,增强了水下航行器的鲁棒性,保证了水下航行器的渐近稳定性,保证了任务的顺利完成。
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Project of Fault Tolerant Control using a Takagi-Sugeno Fuzzy logic applied in autonomous underwater vehicles.
The main problem suffered by Autonomous Underwater Vehicles (AUV) used for research and inspection of marine environments is the fault of thrusters during the trajectory, which can compromise the mission. So, in this paper was proposed a Fault Tolerant Control (FTC) using the Levi-Civita connection and a Takagi-Sugeno Fuzzy logic. First, was described the six degreeof-freedom (DOF) nonlinear equations of dynamics and kinematics of the AUV which has four horizontal thrusters and two vertical thrusters, and then we propose a Fault Tolerant Control of the AUV using a Takagi-Sugeno Fuzzy Logic. Using the Fuzzy logic, it was possible to distribute the forces and moments of the faulty thruster in the healthy ones using the same plane of action. The control performance was validated via numerical simulations of the AUV occurring fault of two horizontal thrusters in specific time during the simulation. Even with disturbance caused by variable current and fault of two AUV's thrusters, with this method it was capable of keeping good track of the AUV, enhancing the robustness, assuring asymptotic stability, and the success of the mission.
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