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

Authors

Qiaomei Sun, Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang, China.Follow
Jinguo Chen, 710th Research Institute of China Shipbuilding Industry Corporation, Yichang, China.
Wan Yu, Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang, China.
Huashan Su, Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang, China.

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.

Recommended Citation

Sun, Qiaomei; Chen, Jinguo; Yu, Wan; and Su, Huashan (2020) "FUZZY-SLIDING-MODE-BASED ROBUST TRACKING CONTROL OF AUTONOMOUS UNDERWATER VEHICLES," Journal of Marine Science and Technology: Vol. 28: Iss. 2, Article 2.
DOI: 10.6119/JMST.202004_28(2).0002
Available at: https://jmstt.ntou.edu.tw/journal/vol28/iss2/2