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

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Abstract

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.

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Acknowledgements

This project is supported by the National Natural Science Foundation of China under Grant 51509150, 51575336; Shanghai Municipal Natural Science Foundation under Grant 15ZR1419700.

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Authors and Affiliations

  1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, No. 1037, Luoyu Road, Wuhan, 430074, China

    Zhenzhong Chu, Xianbo Xiang & De Xie

  2. College of Information Engineering, Shanghai Maritime University, Shanghai, China

    Zhenzhong Chu & Daqi Zhu

  3. Department of Electrical and Computer Engineering, University of Detroit Mercy, Detroit, MI, USA

    Chaomin Luo

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  1. Zhenzhong Chu
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  5. De Xie
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Correspondence to Xianbo Xiang.

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Chu, Z., Xiang, X., Zhu, D. et al. Adaptive Fuzzy Sliding Mode Diving Control for Autonomous Underwater Vehicle with Input Constraint. Int. J. Fuzzy Syst. 20, 1460–1469 (2018). https://doi.org/10.1007/s40815-017-0390-2

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  • DOI: https://doi.org/10.1007/s40815-017-0390-2

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