Control difuso para el seguimiento de guiñada del AUV Cormorán

Julián González; Spartacus Gomáriz; Carles Batlle

doi:10.1016/j.riai.2015.02.003

Autores/as

Julián González Universitat Politècnica de Catalunya
Spartacus Gomáriz Universitat Politècnica de Catalunya
Carles Batlle Universitat Politècnica de Catalunya

DOI:

https://doi.org/10.1016/j.riai.2015.02.003

Palabras clave:

fuzzy control, autonomous vehicles, linear control systems, mathematical models, continuous path control

Resumen

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.

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