1. An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
- Author
-
Kangling Wang, Shuqi Liu, Yuan Chen, and Yinpo Yan
- Subjects
Underactuation ,Computer science ,lcsh:Electronics ,Control (management) ,Mode (statistics) ,lcsh:TK7800-8360 ,Fuzzy logic ,lcsh:QA75.5-76.95 ,Computer Science Applications ,Underwater vehicle ,Artificial Intelligence ,Control theory ,Riccati equation ,lcsh:Electronic computers. Computer science ,Software - Abstract
An adaptive fuzzy sliding mode controller is proposed for the depth control of an underactuated underwater vehicle based on the state-dependent Riccati equation. An adaptive fuzzy control algorithm is embedded into the sliding mode controller to solve the buffering and mismatched uncertain problems in the robust sliding mode variable structure controller, where an auxiliary fuzzy control unit is designed to automatically adjust the scale factor of the main fuzzy controller output. Based on Lyapunov stability theory and final value bounded theorem, the stability and convergence properties of the closed-loop system are demonstrated. Numerical simulations are carried out to validate the effectiveness of the proposed controller.
- Published
- 2019
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