Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle

被引：103
|
作者：
Guo, J [1 ]
Chiu, FC [1 ]
Huang, CC [1 ]
机构：
[1] Natl Taiwan Univ, Dept Naval Architecture & Ocean Engn, Taipei, Taiwan
来源：
OCEAN ENGINEERING | 2003年 / 30卷 / 16期
关键词：
AUV; sliding mode control; fuzzy control; guidance;
D O I：
10.1016/S0029-8018(03)00048-9
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
This work demonstrates the feasibility of applying a sliding mode fuzzy controller to motion control and line of sight guidance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller offers a systematical means of constructing a set of shrinking-span and dilating-span membership functions for the controller. Stability and robustness of the control system are guaranteed by properly selecting the shrinking and dilating factors of the fuzzy membership functions. Control parameters selected for a testbed vehicle, AUV-HM1, are evaluated through tank and field experiments. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, non-linearities of the vehicle dynamics, and environmental disturbances caused by ocean currents and waves. (C) 2003 Elsevier Ltd. All rights reserved.
引用
收藏
页码：2137 / 2155
页数：19
相关论文
共 50 条
  • [31] Adaptive Fuzzy Sliding Mode Controller for the Kinematic Variables of an Underwater Vehicle
    Eduardo Sebastián
    Miguel A. Sotelo
    [J]. Journal of Intelligent and Robotic Systems, 2007, 49 : 189 - 215
  • [32] Adaptive fuzzy sliding mode controller for the kinematic variables of an underwater vehicle
    Sebastian, Eduardo
    Sotelo, Miguel A.
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2007, 49 (02) : 189 - 215
  • [33] Sliding Mode Depth Control of a Hovering Autonomous Underwater Vehicle
    Song, Yoong Siang
    Arshad, Mohd Rizal
    [J]. PROCEEDINGS 5TH IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2015), 2015, : 435 - 440
  • [34] Sliding Mode Based MIMO Control of Autonomous Underwater Vehicle
    Farhan, M.
    Bhatti, A. I.
    Kamal, W. A.
    Yousafzai, I. K.
    [J]. 2017 11TH ASIAN CONTROL CONFERENCE (ASCC), 2017, : 2899 - 2904
  • [35] COMPARISON OF TWO TYPE OF FUZZY SLIDING MODE WITH REGION TRACKING CONTROL FOR AUTONOMOUS UNDERWATER VEHICLE
    Mokhar, Mohd Bazli Mohd
    Ismail, Zool Hilmi
    [J]. JURNAL TEKNOLOGI, 2015, 74 (09): : 65 - 71
  • [36] A modified sliding mode controller based on fuzzy logic to control the longitudinal dynamics of the autonomous vehicle
    Alika, Rachid
    Mellouli, El Mehdi
    Tissir, El Houssaine
    [J]. RESULTS IN ENGINEERING, 2024, 22
  • [37] OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE
    Raeisy, B.
    Safavi, A. A.
    Khayatian, A. R.
    [J]. IRANIAN JOURNAL OF FUZZY SYSTEMS, 2012, 9 (02): : 25 - 41
  • [38] Nonlinear Parameters Auto-Tuning in Sliding Mode Controller for an Autonomous Underwater Vehicle Flight Control
    Taheri, Ehsan
    Ferdowsi, Mohammad Hossien
    Danesh, Mohammad
    Ghahfarokhi, Paria Shams
    [J]. ICCMA 2018: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION, 2018, : 70 - 75
  • [39] Fuzzy Logic Guidance of a Control-Configured Autonomous Underwater Vehicle
    Peng, Xue-feng
    Zhang, Jin-ju
    Li, Peng
    [J]. 2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 3989 - 3993
  • [40] Fuzzy-based Tracking Controller Design for Autonomous Underwater Vehicle
    Ban, Hongjun
    Yang, Xian
    Luo, Xiaoyuan
    Yan, Jing
    Guan, Xinping
    [J]. PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 4813 - 4818
12345