Adaptive Fuzzy Sliding Mode Diving Control for Autonomous Underwater Vehicle with Input Constraint

被引：81
作者：
Chu, Zhenzhong [1 ,2 ]
Xiang, Xianbo [1 ]
Zhu, Daqi [2 ]
Luo, Chaomin [3 ]
Xie, De [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, 1037 Luoyu Rd, Wuhan 430074, Hubei, Peoples R China
[2] Shanghai Maritime Univ, Coll Informat Engn, Shanghai, Peoples R China
[3] Univ Detroit Mercy, Dept Elect & Comp Engn, Detroit, MI 48221 USA
来源：
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS | 2018年 / 20卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Autonomous underwater vehicle; Diving control; Adaptive sliding mode; Fuzzy logic system; Input constraint; AFFINE NONLINEAR-SYSTEMS; NEURAL-NETWORKS; SATURATION; TRACKING; DESIGN; IDENTIFICATION; OBSERVER; GAIN;
D O I：
10.1007/s40815-017-0390-2
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper develops a novel adaptive fuzzy sliding mode controller for the diving control of autonomous underwater vehicle (AUV). Unlike most previous AUVs' control approaches, in this paper, the problem of input saturation constraint of rudder angle is considered, and the new auxiliary systems are proposed. Considering the modeling uncertainty of the dynamic model, an adaptive sliding mode controller based on fuzzy logic system is proposed, and the new update laws of control parameters are given. For the adaptive sliding mode controller design, although the input gain of each subsystem is partially known, only one fuzzy logic system is needed for online identification, which is a distinct difference from the previous adaptive sliding mode controllers. The uniformly ultimately boundedness of tracking error is proven by Lyapunov theorem. The effectiveness of the proposed control scheme is illustrated by simulation.
引用
收藏
页码：1460 / 1469
页数：10
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