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Volume 19 Issue 5
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2011  >  19(5): 360-364
SHEN Jian-sen, ZHOU Xu-chang, GAO Xuan. Fuzzy Sliding Mode Control for Near-Surface AUV in Longitudinal Plane[J]. Journal of Unmanned Undersea Systems, 2011, 19(5): 360-364. doi: 10.11993/j.issn.1673-1948.2011.05.008
Citation: SHEN Jian-sen, ZHOU Xu-chang, GAO Xuan. Fuzzy Sliding Mode Control for Near-Surface AUV in Longitudinal Plane[J]. Journal of Unmanned Undersea Systems, 2011, 19(5): 360-364. doi: 10.11993/j.issn.1673-1948.2011.05.008
shu

Fuzzy Sliding Mode Control for Near-Surface AUV in Longitudinal Plane

doi: 10.11993/j.issn.1673-1948.2011.05.008

  • Department of Weapon Engineering, Naval University of Engineering, Wuhan 430033, China

  • Received Date: 2011-06-09
  • Rev Recd Date: 2011-06-19
  • Publish Date: 2011-10-31
    Abstract
  • To solve wave turbulence problem when an autonomous underwater vehicle(AUV) is running in near-surface sea, we apply fuzzy sliding mode control to AUV longitudinal motion control. Based on the approximation and simplification of a six-degree-of-freedom model, linear equations of motion in longitudinal plane are established. Wave force and moment on AUV are computed and simulated according to the theory of random long-crested wave and the function of wave spectral density. An AUV longitudinal motion controller is designed based on the sliding mode control method. Depth control performance of sliding mode under first-order wave frequency turbulence is analyzed and evaluated with Matlab, and fuzzy logic is introduced to eliminate the input shake caused by the first-order wave frequency turbulence. The simulation results demonstrate that the proposed controller achieves good control performance, and reduce the high frequency shake of input rudder angle.

     

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