The autonomous suspending control method for underwater unmanned vehicle based on amendment of fuzzy control rules

Abstract

For the specific needs of the underwater unmanned vehicle (UUV) in the working environment, the autonomous suspending control method for UUV based on amendment of fuzzy control rules is advanced. According to the traditional fuzzy controller, this method based on particle swarm optimization (PSO) for online search strategies adjusts the amendment of fuzzy control rules in time. This online optimization of fuzzy control method has a faster convergence speed, and can effectively adaptive adjust the motion state of UUV, which carries out the autonomous suspending control within the scope of predetermined depth for the accuracy and robustness . It is illuminated by simulation experiments that this autonomous suspending control method for UUV based on amendment of fuzzy control rules is more effective against uncertain disturbance and serious nonlinear, time change process.