Fuzzy-based Tracking Controller Design for Autonomous Underwater Vehicle

Autonomous Underwater Vehicle (AUV) is referred as a promising device to extend human intelligences to harsh underwater environment. Most applications of AUV demand accurate trajectory tracking, however the nonlinear and model inaccuracy constraints on AUV make it challenging to achieve tracking task. In this paper, we are concerned with the trajectory tracking problem for AUV. The AUV is assumed to be auto navigated in surge, sway, heave and yaw. We first give the 4-DOF mathematical model of AUV. Then, the tracking control problem is formulated into T-S fuzzy framework. Based on this, T-S fuzzy-based position and head controllers, which depend on the relative state errors between the AUV and reference, are designed for AUV to achieve the trajectory tracking task. Finally, simulation results are presented to show the effectiveness of the proposed tracking controllers, wherein the influence of chattering problem can be reduced by compared with SMC-based controller.