文献类型：期刊文献

英文题名：An Embedded Linear Model Three-Dimensional Fuzzy PID Control System for a Bionic AUV under Wave Disturbance

作者：Lyu, Da[1];Su, Haoqin[1,2];Li, Yun[1];Zhang, Zijun[1];Long, Hao[3,4];Zhao, Junbo[1]

第一作者：Lyu, Da

通讯作者：Lyu, D[1]

机构：[1]China Acad Aerosp Aerodynam, Beijing 100074, Peoples R China;[2]Caihong UAV Technol Co Ltd, Beijing 100074, Peoples R China;[3]Beijing Union Univ, Beijing Key Lab Informat Serv Engn, Beijing 100101, Peoples R China;[4]Beijing Union Univ, Coll Robot, Beijing 100027, Peoples R China

第一机构：China Acad Aerosp Aerodynam, Beijing 100074, Peoples R China

通讯机构：[1]corresponding author), China Acad Aerosp Aerodynam, Beijing 100074, Peoples R China.

年份：2022

卷号：2022

外文期刊名：MATHEMATICAL PROBLEMS IN ENGINEERING

收录：;EI(收录号：20221411875417);Scopus(收录号：2-s2.0-85127241618);WOS:【SCI-EXPANDED(收录号:WOS:000774653000003)】；

基金：AcknowledgmentsThe authors would like to thank the support from the Science and Technology Committee of China Aerospace Science and Technology Corporation (grant number: 8000090003014160021) and the Premium Funding Project for Academic Human Resources Development in the Beijing Union University (BPHR2020CZ03). This work was supported by the Hydrodynamics Technology Research Group in China Academy of Aerospace Aerodynamics.

语种：英文

外文关键词：Controllers - Proportional control systems - Surface waters - Autonomous underwater vehicles - Three term control systems - Oceanography - Bionics - Electric control equipment - Fuzzy control

摘要：This study provides a new embedded linear model (ELM) three-dimensional fuzzy PID control method for a bionic autonomous underwater vehicle (AUV), which is disturbed by ocean waves. The uncertainty of the ocean waves will make it difficult for the AUV to achieve good sailing quality, especially near the sea surface. In view of this problem, an ELM fuzzy PID controller, which adopts three-dimensional fuzzy control rules, is designed. In the ELM fuzzy PID controller, a linear model of AUV is established in order to actively perceive the effect of waves on AUV. Hence, the wave disturbance can be reflected in the control signal earlier and faster. Finally, three simulations are carried out to verify the control effect of the ELM fuzzy PID controller. An ocean wave disturbance model is established in order to simulate the force and the moment acting on the AUV. The results imply that compared with the classical PID controller and normal fuzzy PID controller, the ELM fuzzy PID controller can significantly enhance the stability of AUV and make the response faster and overshoot smaller.