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An Application of the Improved Hybrid Fuzzy PID Control System
Lin CL(林昌龙); Feng XS(封锡盛); Gong PL(公丕亮); Jin Z(金忠)
Department水下机器人研究室
Conference Name7th World Congress on Intelligent Control and Automation
Conference DateJune 25-27, 2008
Conference PlaceChongqing, China
Author of SourceChongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
Source Publication2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages5704-5709
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083911600291
WOS IDWOS:000259965704157
Contribution Rank1
ISBN978-1-4244-2113-8
KeywordHybrid Fuzzy Pid Control Pump-propelled Autonomous Underwater Vehicle
AbstractIn this paper, the hybrid fuzzy PID control system of a pump-propelled autonomous underwater vehicle is presented. The small low-cost vehicle named "U-FISH" is the first one propelled and controlled by four pumps mounted on the stern. Due to the difficulty of building the model and the restriction of the computing power of the micro-controller, the hybrid fuzzy PID control algorithm, which is model-free and easy to realized, is a wise choice for this complex system. The open-loop experiments are firstly carried out to obtain the parameters of the vehicle, according to which we design the control law in details for the horizontal plane and the vertical plane separately. Finally, the close-loop experiments in which the U-FISH travels at different heading angles and depths show that the complex system responds quickly and reaches a satisfactory steady state in both of the planes simultaneously. Based upon the results, the feasibility of the control law is validated.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7796
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.Graduate School, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Lin CL,Feng XS,Gong PL,et al. An Application of the Improved Hybrid Fuzzy PID Control System[C]//Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn. NEW YORK:IEEE,2008:5704-5709.
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