无人水下航行器含有动态参数的变阶次模糊逻辑控制方法
无人水下航行器含有动态参数的变阶次模糊逻辑控制方法
本发明涉及一种无人水下航行器含有动态参数的变阶次模糊逻辑控制方法，采用含有分数阶微积分的单输入模糊逻辑控制器，比例因子随给定深度和实时深度的大小的变化而变化。同时，为了解决分数阶次在[0 1]区间内时深度会出现朝背离给定深度方向变化和在外部扰动情况下的控制的问题，采用了一种变阶次的方法。被控系统在保持深度控制精度的同时，使其他变量表现出更好的暂态和稳态性能。同时，算法较为简单，且有较好的鲁棒性和抗干扰能力。通过非支配多目标遗传算法(NSGA‑Ⅱ)找到pareto最优解集，更符合实际的工程需要。此外，给出了UUV深度控制示例，以显示出算法的实时性与鲁棒性。
The invention relates to a variable-order fuzzy logic control method for an unmanned underwater vehicle with dynamic parameters, which adopts a single-input fuzzy logic controller with fractional calculus, and the scale factor changes along with the change of the given depth and the real-time depth. Meanwhile, in order to solve the problems that when the fractional order is in the interval [0 < 1 >], the depth changes in the direction deviating from the given depth and control is carried out under the condition of external disturbance, a variable-order method is adopted. The controlled system enables other variables to show better transient and steady-state performance while keeping depth control precision. Meanwhile, the algorithm is relatively simple, and has relatively good robustness and anti-interference capability. A pareto optimal solution set is found through a non-dominated multi-objective genetic algorithm (NSGA-II), and the actual engineering requirements are better met. In addition, a UUV depth control example is given to display the instantaneity and robustness of the algorithm.
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无人水下航行器含有动态参数的变阶次模糊逻辑控制方法
2024-07-02
Patent
Electronic Resource
Chinese
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