Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Adaptive Fuzzy Control System for the Speed Control of the Autonomous Surface Vehicle with Nonaffine Nonlinear Dynamics

비-어파인 비선형 동특성을 갖는 무인 자율 이동 보트의 속도 제어를 위한 적응 퍼지 제어 계통

  • 박영환 (충주대학교 제어계측공학과) ;
  • 이재경 (충주대학교 제어계측공학과)
  • Received : 2011.04.20
  • Accepted : 2011.11.04
  • Published : 2012.01.01
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Abstract

In this paper, an adaptive fuzzy control system is proposed for the speed control of the ASV (Autonomous Surface Vehicle) with nonaffine nonlinear system dynamics. We consider the turning speed of the screw propeller to be the control input instead of thrust so that we do not have to know the exact function between turning speed and thrust. But in this case, the ASV becomes a nonaffine nonlinear system because thrust is a nonlinear function of the turning speed. To solve this problem, we propose a Takagi-Sugeno fuzzy-model-based control system and simulation studies are performed. Simulation results show the effectiveness of the proposed control scheme.

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References

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