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2020•Journal of Marine Science and TechnologyRequires access

FUZZY-SLIDING-MODE-BASED ROBUST TRACKING CONTROL OF AUTONOMOUS UNDERWATER VEHICLES

Qiaomei Sun, Jinguo Chen, Wan Neng Yu, Huashan Su

Open publisher page 4 citations

Abstract

Control of an autonomous underwater vehicle (AUV) is difficult due to its nonlinear and coupled characteristics, parameter uncertainties, and unknown disturbances. This paper presents a motion control system based on an adaptive fuzzy sliding mode control (FSMC) method for trajectory tracking of an AUV. The proposed FSMC method is primarily based on a combination of sliding mode control (SMC) strategy with an adaptive fuzzy algorithm to estimate external disturbances and weaken the chattering effect. A waypoint guidance law based on a line-of-sight (LOS) algorithm is applied to the guidance system. Simulation studies confirm a good performance of the proposed controller. The results are compared with those obtained with a sliding mode controller in terms of robustness and accuracy.

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What this paper is about

Control of an autonomous underwater vehicle (AUV) is difficult due to its nonlinear and coupled characteristics, parameter uncertainties, and unknown disturbances. This paper presents a motion control system based on an adaptive fuzzy sliding mode control (FSMC) method for trajectory tracking of an AUV. The proposed FSMC method is primarily based on a combination of sliding mode control (SMC) strategy with an adaptive fuzzy algorithm to estimate external disturbances and weaken the chattering effect. A waypoint guidance law based on a line-of-sight (LOS) algorithm is applied to the guidance system. Simulation studies confirm a good performance of the proposed controller. The results are compared with those obtained with a sliding mode controller in terms of robustness and accuracy.

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OpenAlex reports 4 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

Control of an autonomous underwater vehicle (AUV) is difficult due to its nonlinear and coupled characteristics, parameter uncertainties, and unknown disturbances. This paper presents a motion control system based on an adaptive fuzzy sliding mode control (FSMC) method for trajectory tracking of an AUV. The proposed FSMC method is primarily based on a combination of sliding mode control (SMC) strategy with an adaptive fuzzy algorithm to estimate external disturbances and weaken the chattering effect. A waypoint guidance law based on a line-of-sight (LOS) algorithm is applied to the guidance system. Simulation studies confirm a good performance of the proposed controller. The results are compared with those obtained with a sliding mode controller in terms of robustness and accuracy.

Key concepts: Control theory (sociology), Waypoint, Robustness (evolution), Sliding mode control, Nonlinear system, Fuzzy logic, Fuzzy control system, Control engineering

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