Control difuso para el seguimiento de guiñada del AUV Cormorán

• Julián González ^[1] ; Spartacus Gomáriz ^[1] ; Carles Batlle ^[1]
  1. [1] Universitat Politècnica de Catalunya

     Universitat Politècnica de Catalunya

     Barcelona, España

     
• Localización: Revista iberoamericana de automática e informática industrial ( RIAI ), ISSN-e 1697-7920, Vol. 12, Nº. 2, 2015, págs. 166-176
• Idioma: español
• DOI: 10.1016/j.riai.2015.02.003
• Títulos paralelos:
  • Fuzzy control for yaw tracking of Cormoran AUV
• Enlaces
  • Texto completo
• Resumen
  • español

    En este trabajo se presenta en detalle el diseño de un control difuso para el seguimiento de guiñada de un vehículo autónomo submarino. Este control está desarrollado a partir de la descripción matemática del modelo hidrodinámico del vehículo, que se estudia y discute bajo diferentes situaciones de velocidad de avance o cambios en la referencia de guiñada. Se linealiza el modelo matemático y se estudian diferentes controles lineales que son diseñados para actuar en situaciones concretas, de forma que el control difuso se encargue de manejar dichos controles de manera global.

  • English

    This work presents in detail the fuzzy control design for yaw tracking of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations both in surge velocity as in changes in yaw reference. The model is linearized and several linear controls are designed for their actuation at certain situations, in a way that the fuzzy control allows to handle those controls globally.

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