Control difuso para el seguimiento de guiñada del AUV Cormorán

Julián González

Spain

Universitat Politècnica de Catalunya

Spartacus Gomáriz

Spain

Universitat Politècnica de Catalunya

Carles Batlle

Spain

Universitat Politècnica de Catalunya

Enviado: 30-01-2018

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Aceptado: 30-01-2018

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DOI: https://doi.org/10.1016/j.riai.2015.02.003
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Palabras clave:

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

Agencias de apoyo:

l Ministerio de Educacion y Ciencia de Espa ´ na y la Unión Europea (FEDER)

proyectos CGL2013-42557-R y DPI2011-25649.

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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