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Mathematical Problems in Engineering
Volume 2014, Article ID 820258, 10 pages
Research Article

Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments

1College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China
2Department of Bioengineering, National University of Singapore, Singapore 117575

Received 7 January 2014; Revised 29 April 2014; Accepted 14 May 2014; Published 11 June 2014

Academic Editor: Michael Lütjen

Copyright © 2014 Wei Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The underwater recovery of autonomous underwater vehicles (AUV) is a process of 6-DOF motion control, which is related to characteristics with strong nonlinearity and coupling. In the recovery mission, the vehicle requires high level control accuracy. Considering an AUV called BSAV, this paper established a kinetic model to describe the motion of AUV in the horizontal plane, which consisted of nonlinear equations. On the basis of this model, the main coupling variables were analyzed during recovery. Aiming at the strong coupling problem between the heading control and sway motion, we designed a decoupling compensator based on the fuzzy theory and the decoupling theory. We analyzed to the rules of fuzzy compensation, the input and output membership functions of fuzzy compensator, through compose operation and clear operation of fuzzy reasoning, and obtained decoupling compensation quantity. Simulation results show that the fuzzy decoupling controller effectively reduces the overshoot of the system, and improves the control precision. Through the water tank experiments and analysis of experimental data, the effectiveness and feasibility of AUV recovery movement coordinated control based on fuzzy decoupling method are validated successful, and show that the fuzzy decoupling control method has a high practical value in the recovery mission.