Journal
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
Volume 20, Issue 5, Pages 1460-1469Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s40815-017-0390-2
Keywords
Autonomous underwater vehicle; Diving control; Adaptive sliding mode; Fuzzy logic system; Input constraint
Categories
Funding
- National Natural Science Foundation of China [51509150, 51575336]
- Shanghai Municipal Natural Science Foundation [15ZR1419700]
Ask authors/readers for more resources
This paper develops a novel adaptive fuzzy sliding mode controller for the diving control of autonomous underwater vehicle (AUV). Unlike most previous AUVs' control approaches, in this paper, the problem of input saturation constraint of rudder angle is considered, and the new auxiliary systems are proposed. Considering the modeling uncertainty of the dynamic model, an adaptive sliding mode controller based on fuzzy logic system is proposed, and the new update laws of control parameters are given. For the adaptive sliding mode controller design, although the input gain of each subsystem is partially known, only one fuzzy logic system is needed for online identification, which is a distinct difference from the previous adaptive sliding mode controllers. The uniformly ultimately boundedness of tracking error is proven by Lyapunov theorem. The effectiveness of the proposed control scheme is illustrated by simulation.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available