Adaptive Fuzzy Planar Path Following Control for Underactuated Wave Glider

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Qi, ZhanFeng^1,2 ; Shi, Jian^1 ; Qin, YuFeng^1

National Ocean Technology Center, Tianjin

300112, China^1

School of Marine Science and Technology, Tianjin University, Tianjin

300072, China^2

关键词: Adaptive fuzzy;    Following problem;    Fuzzy adaptive pid;    Fuzzy controllers;    Path following control;    Path-following problems;    PID controllers;    Typical application;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/4/042034/pdf
DOI  :  10.1088/1757-899X/452/4/042034

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

This paper addresses a path following problem of wave glider along a predefined path in horizontal plane. Based on the LOS guidance law and the virtual target method, a planar guidance controller for underactuated wave glider is presented to ensure the stability of the path following. And then, according to the classic feedback linearization PID controller and fuzzy controller, a fuzzy adaptive PID controller is developed. Furthermore, analysing the typical application scenario of wave glider, we set a simulation path in horizontal plane named polyline path. Numerical simulation results illustrate the proposed control design is effective to deal with planar following problem of wave glider.