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

被引：2

作者：

Sun, Qiaomei ^{[1
]}

Chen, Jinguo ^{[2
]}

Yu, Wan ^{[1
]}

Su, Huashan ^{[1
]}

机构：

[1] China Three Goiges Univ, Hubei Key Lab Hydroelect Machinery Design & Maint, Yichang, Peoples R China

[2] China Shipbldg Ind Corp, Res Inst 710, Yichang, Peoples R China

来源：

JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN | 2020年 / 28卷 / 02期

关键词：

sliding mode control; fuzzy logic control; trajectory tracking; underwater vehicles; GUIDANCE;

D O I：

10.6119/JMS7.202004_28(2).0002

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页码：80 / 91

页数：12

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