Identificación y control difuso adaptativo para sistemas de navegación de vehículos autónomos
DOI:
https://doi.org/10.25043/19098642.100Palabras clave:
identificación, lugar de las raíces, control PID, control PI difuso, autosintonizaciónResumen
Este artículo presenta un método sencillo para la generación del control automático del rumbo devehículos navales de super!cie empleando la lógica difusa para ajustar los parámetros del controladorPID. El sistema difuso construido para adaptar automáticamente los parámetros del controlador PID esdel tipo Mamdani y emplea funciones de pertenencia triangulares para el antecedente y el consecuente.Se presenta una aplicación a un modelo real, exponiendo el proceso de identi!cación para la obtencióndel modelo matemático a partir de datos experimentales, el análisis temporal del modelo matemático,la obtención de los parámetros del controlador PI, y los resultados ante cambios de rumbo entre 125° y305°. Posteriormente, y teniendo en cuenta el rango de los parámetros Kp y Ti en que el sistema es estable,se presentó e implementó una estructura de un controlador PI difuso autosintonizable con una mejoranotable en la respuesta del sistema.Descargas
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