文献类型：期刊文献

英文题名：Predictive Trajectory Tracking Control of Autonomous Underwater Vehicles Based on Variable Fuzzy Predictor

作者：Yin, Jianchuan[1,2];Wang, Ning[3,4]

机构：[1]Guangdong Ocean Univ, Maritime Coll, Zhanjiang 524088, Peoples R China;[2]Dalian Maritime Univ, Nav Coll, Dalian 116026, Peoples R China;[3]Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China;[4]Dalian Maritime Univ, Ctr Intelligent Marine Vehicles, Dalian 116026, Peoples R China

年份：2021

卷号：23

期号：6

起止页码：1809

外文期刊名：INTERNATIONAL JOURNAL OF FUZZY SYSTEMS

收录：SCI-EXPANDED(收录号：WOS:000542542300004)、、EI(收录号：20202608867469)、Scopus(收录号：2-s2.0-85086777889)、WOS

基金：This work is supported by the National Natural Science Foundation of China under Grant 51879024, and the Liaoning Provincial Natural Science Foundation of China under Grant 20180520034.

语种：英文

外文关键词：Predictive control; Autonomous underwater vehicle; Sliding data window; Variable fuzzy model

外文摘要：A variable-fuzzy-predictor-based predictive control approach is presented to solve the dynamic trajectory tracking problem of an autonomous underwater vehicle (AUV) in a three-dimensional underwater environment. To adapt to the characteristics of AUV's motion such as nonlinearity and time-varying dynamics, a predictive controller framework is proposed based on a variable fuzzy predictor whose structure and parameters are both online adjusted. To achieve a precise estimation of AUV's motion, the variable multi-dimensional fuzzy predictor employs a sliding data window (SDW) as the system status observer, and uses the Delaunay triangulation partition method for model construction. The predictive control scheme takes advantages of the constraints-tolerance of predictive control, the uncertainty immunity of fuzzy logic calculation, and the adaptability of variable fuzzy model. The comparative simulation of the AUV trajectory tracking control is conducted in the scenario of underwater operation of an offshore platform, and the result demonstrates the feasibility and effectiveness of the proposed control strategy in respect of accuracy and stability.