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The sliding mode control on AUV

Yongjie Pang

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Abstract

The hydrodynamic model of autonomous underwater vehicle is established in this article.By combining fuzzy logic with sliding-mode control and dynamically adjusting the parameters of exponential approaching rate of the sliding-mode controller with fuzzy logic,the problem of chattering in slidingmode control is reduced effectively.The simulation tests and tank experiments are conducted to verify the good robustness and response of the controller.By using this method,the chattering on sliding modes can be decreased.

About this research paper

What this paper is about

The hydrodynamic model of autonomous underwater vehicle is established in this article.By combining fuzzy logic with sliding-mode control and dynamically adjusting the parameters of exponential approaching rate of the sliding-mode controller with fuzzy logic,the problem of chattering in slidingmode control is reduced effectively.The simulation tests and tank experiments are conducted to verify the good robustness and response of the controller.By using this method,the chattering on sliding modes can be decreased.

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Available abstract

The hydrodynamic model of autonomous underwater vehicle is established in this article.By combining fuzzy logic with sliding-mode control and dynamically adjusting the parameters of exponential approaching rate of the sliding-mode controller with fuzzy logic,the problem of chattering in slidingmode control is reduced effectively.The simulation tests and tank experiments are conducted to verify the good robustness and response of the controller.By using this method,the chattering on sliding modes can be decreased.

Key concepts: Control theory (sociology), Robustness (evolution), Sliding mode control, Fuzzy logic, Mode (computer interface), Control engineering, Underwater, Exponential function

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