Adaptive Fuzzy Sliding Mode Control of Underwater Robotic Vehicles
نویسندگان
چکیده
Abstract: Sliding mode control is a very attractive control scheme because of its robustness against modelling imperfections and external disturbances. It has been successfully employed to the dynamic positioning of remotely operated underwater vehicles. In such situations, the discontinuities in the control law must be smoothed out to avoid the undesirable chattering effects. The adoption of properly designed boundary layers have proven effective in completely eliminating chattering, however, leading to an inferior tracking performance. This work describes the development of a dynamic positioning system for underwater robotic vehicles. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm for uncertainty/disturbance compensation. Numerical results are presented in order to demonstrate the control system’s performance.
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