兵工学报：英文版
兵工學報：英文版
병공학보：영문판
Journal of China Ordnance
2012年
2期
79-85
,共7页
宋晓茹%宋保维%雷志勇%梁庆卫
宋曉茹%宋保維%雷誌勇%樑慶衛
송효여%송보유%뢰지용%량경위
automatic control technology%rough set%least squares support vector machine%autonomous underwater vehi-cle%AUV depth control
Aimed at uncertainties and model＇ s impreciseness, nonlinearity and time-variability of depth control system in autonomous underwater vehicle （ AUV）, a depth predictive control method was put forward based on rough set （RS） and least squares support vector machine （LSSVM）. By using RS theory, the monitor data attribute of AUV was reduced to eliminate the redundant information and to improve efficiency. Then, LSSVM model was trained by using the reduced rules, and its parameters were optimized by using chaos theory for the higher accurate control. Taken an AUV typed NPS Phoenix as an example, its depth step response, horizontal rudder and pitch change were simulated. The simulation results show that the method improves the model＇ s accuracy and has better real-time response, fault-tolerant ability, reliability and strong anti-interfere capability.
