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퍼지 PD 제어기를 사용한 자율 무인 잠수정의 경유점 추적
신동협(Dong H. Shin),배설봉(Seol B. Bae),백운경(Woon K. Baek),주문갑(Moon G. Joo) 한국정보기술학회 2013 한국정보기술학회논문지 Vol.11 No.5
In this paper, we suggest a fuzzy PD controller for robust control of AUV(autonomous underwater vehicle). We implement the fuzzy PD controller combining a fuzzy system and three PD controllers designed for the surge of 1.2, 2.4, and 3.6m/s, respectively to cope with the unknown external force. In the simulation, we assume a sea current at 1m/s in a fixed direction and simulate the AUV way-point tracking using PD controller and fuzzy PD controller, respectively. In the Matlab/Simulink simulation, random noises up to ±0.005m/s to the measurement of velocity and ±15°/s, to angular velocity are considered. As a result of simulation, the proposed fuzzy PD controller is shown to overcome 1m/s sea currents and to track the way-point within 1m error range.