Hierarchical Fuzzy Controller for Beam Rider Guidance with a Forbidden Zone

摘要

Beam rider guidance is a well understood strategy wherein the goal is to maintaina vehicle on a trajectory such that its bearing and the bearing of the contact being pursued coincide. The problem of automatic, external control of an underwater vehicle such that it obeys a beam rider guidance law while remaining outside a region defined relative to a time-varying measurement is addressed herein. The approach uses fuzzy set theory to develop a hierarchical controller that deals with multiple competing goals and determines the necessary commands to be sent over a two-way communication link between the launching platform and the vehicle being guided. Control of the vehicle entails the use of a time-varying data input stream from the launching platform sensor. The controller is implemented in a simulation to demonstrate and analyze performance.