摘要
本文设计了一个模糊神经网络滑模变结构控制器 ,通过模糊神经网络对滑模控制律的控制增益进行在线调整 ,并在海浪干扰条件下 ,用此控制器对 AUV进行深度控制 .
A fuzzy neural network (FNN) sliding mode controller is studied in this paper. The FNN is adopted to adjust the control gain in a switching control condition. The controller is applied to control the depth of AUV motion under the influence of ocean waves. The simulation results reveal the advantage and robustness of the method.
出处
《机器人》
EI
CSCD
北大核心
2003年第3期209-212,249,共5页
Robot
