AUV Target Motion Tracking Control Based on Variable Universe Fuzzy PID
Aiming at the problems of slow response speed and low control accuracy of AUV target system motion tracking,a variable universe fuzzy PID control algorithm is proposed to be applied to the AUV target aiming system.A dynamic model of AUV was established by simulating the forces it experiences during sea navigation.The concept of variable universe fuzzy PID was introduced into the AUV target aiming motion tracking control system,and a controller based on the variable domain fuzzy PID control algorithm was designed.Using MATLAB to build variable universe fuzzy PID,conventional fuzzy PID,and traditional PID control system models,simulate and analyze the control effect of vehicle motion tracking under three attitude control system models.The results show that the variable universe fuzzy PID has the advantages of small overshoot,fast response speed,strong dynamic response ability,and high control accuracy in AUV target control.
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