Earticle

초록

영어

As we all know that the heading control of unmanned surface vessel (USV) is often with complex nonlinearity and uncertainty, it is difficult to establish accurate mathematical model, so the conventional control algorithm which is applied to linear system has some limitations. As fuzzy control does not rely on the specific mathematical model, and with control robustness, it is widely used in motion control system. However, the conventional fuzzy control is not high accuracy, usually with a large overshoot and steady-state error. In order to improve the dynamic and steady-state performance of fuzzy controller and further more improve its control quality, this paper combined expert system and fuzzy control then constitutes the Expert-Fuzzy controller, and applied to the heading control system of USV, simulation results shows that Expert-Fuzzy control system can achieve better heading control performance of USV compared to conventional fuzzy control system.

목차

Abstract
 1. Introduction
 2. Nonlinear Model of USV
 3. Design of Controller
  3.1. Expert-Fuzzy Control System
  3.2. Basic Fuzzy Controller
  3.3. Expert Intelligence Coordinator
 4. Simulation
 5. Conclusion
 References

키워드

저자

• Zaopeng Dong [ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China, College of Shipbuilding Engineering, Harbin Engineering University, Harbin, Heilongjiang, China ]
• Lei Wan [ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China, College of Shipbuilding Engineering, Harbin Engineering University, Harbin, Heilongjiang, China ]
• Yueming Li [ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China, College of Shipbuilding Engineering, Harbin Engineering University, Harbin, Heilongjiang, China ]
• Yulei Liao [ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China, College of Shipbuilding Engineering, Harbin Engineering University, Harbin, Heilongjiang, China ]
• Jiayuan Zhuang [ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China, College of Shipbuilding Engineering, Harbin Engineering University, Harbin, Heilongjiang, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605