水下机器人动力定位模糊逻辑控制的虚拟现实仿真（英文）

• 作 者: Midhin Das Thekkedan Cheng Siong Chin Wai Lok Woo
• 机 构: School of Marine Science and Technology, Newcastle University,School of Electrical and Electronic En
• 出 处: Journal of Marine Science and Application
• 发表日期: 2015年01期
• 关键词: 虚拟现实仿真 disturbance 水下机器人 动力定位 systematically remotely underwater operated slidin

In this paper, graphical-user-interface(GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle(ROV) using MATLAB TM GUI Designing Environment is proposed. The proposed ROV’s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative(PID) and sliding-mode controller(SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

The proposed ROV’s GUI platform allows the controller such as fuzzy-logic (GUI) software for simulation and fuzzy-logic control of a remotely-operated vehicle (ROV) using MATLAB (TM) GUI Designing Environment control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modeling in actual underwater environment. simulated results showed the position responses of the fuzzy-logic control exhibit exhibit performance under the sea current disturbance.