Predictive Fuzzy PID Control Method for Underwater Vehicles?

摘要

In this paper, a new control method based on generalized predictive control (GPC) is proposed, for nonlinear, large delay, time-varying characteristics of AUV control system. The AUV control system is designed to deal with the poor working condition about the action of the surge in the shallow waters, and its aim at low static error, fast response and the control overshoot suppression characteristics. The new method describes the integrated controller taking Fuzzy adaptive PID controller as the main body, and using the generalized predictive control algorithm to achieve prediction function. Simulation results show that the Fuzzy-PID controller based on generalized predictive control has a better performance, and provides a new approach for solving underwater robot control problems.