Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints

被引：63

作者：

Sun, Yanchao ^{[1
]}

Chen, Xinyan ^{[1
]}

Wang, Ziwei ^{[2
]}

Qin, Hongde ^{[1
]}

Jing, Ruijie ^{[1
]}

机构：

[1] Harbin Engn Univ, Sci & Technol Underwater Vehicle Lab, Harbin, Peoples R China

[2] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China

来源：

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 2023年 / 54卷 / 15期

基金：

中国国家自然科学基金;

关键词：

Multi-legged underwater robot; anti-windup compensator; interval type-2 fuzzy neural network; dynamic surface control; full-state constraints;

D O I：

10.1080/00207721.2020.1869346

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a trajectory tracking control strategy is proposed for multi-legged underwater robot in the presence of input saturation and full-state constraints. An anti-windup compensator is introduced to solve the input saturation problem, which can compensate for the saturation difference directly. Besides, the state constrains are addressed by a new state saturation function and the external unknown disturbances are solved by interval type-2 fuzzy neural network approximator. The dynamic surface control method combines with backstepping method is utilised to construct Lyapunov function. The control law and signals of the closed-loop system can be guaranteed to achieve semi-global uniform boundedness. Numerical simulations are presented to show the effectiveness of the proposed algorithm.

引用

页码：2859 / 2874

页数：16

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