The purpose of this study is to design a supervisory two-level controller for an autonomous underwater vehicle path following problem despite the underwater uncertain operation conditions and external measurement noises. For the controller description, the surge degree of freedom dynamic model is linearized using feedback linearization technique and then a fuzzy PID tracking control law is sketched. To illustrate the robust tracking performance of the controller, the proposed control law is compared with a conventional PID controller. The results show improvement in the tracking error in the presence of noise and dynamic model parameter perturbation. The main reason behind the ability of the supervisory controller in handling the uncertainties is the auto-adjustment ability of PID gains when faced with real-time situations.

这项研究的目的是为水下航行器不确定的运行条件和外部测量噪声而设计的自主水下航行器路径跟踪问题设计一个监控两级控制器。对于控制器的描述，使用反馈线性化技术将喘振自由度动态模型线性化，然后绘制模糊PID跟踪控制律。为了说明控制器的鲁棒跟踪性能，将建议的控制规律与常规PID控制器进行了比较。结果表明，在存在噪声和动态模型参数摄动的情况下，跟踪误差得到了改善。监控器处理不确定性的能力背后的主要原因是面对实时情况时PID增益的自动调节能力。