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