Fuzzy Model Based Sliding Mode Control for AUVs

LI Rongchang; BAI Huajun; ZHANG Jingxi; ZHANG Yi

doi:10.11993/j.issn.2096-3920.2024-0149

Article Contents

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LI Rongchang, BAI Huajun, ZHANG Jingxi, ZHANG Yi. Fuzzy Model Based Sliding Mode Control for AUVs[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0149

Citation:

LI Rongchang, BAI Huajun, ZHANG Jingxi, ZHANG Yi. Fuzzy Model Based Sliding Mode Control for AUVs[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0149

LI Rongchang, BAI Huajun, ZHANG Jingxi, ZHANG Yi. Fuzzy Model Based Sliding Mode Control for AUVs[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0149

Citation:

LI Rongchang, BAI Huajun, ZHANG Jingxi, ZHANG Yi. Fuzzy Model Based Sliding Mode Control for AUVs[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0149

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Fuzzy Model Based Sliding Mode Control for AUVs

doi: 10.11993/j.issn.2096-3920.2024-0149

The 3rd Research Institute of China Electronics Technology Group Corporation, Beijing 100015, China

Received Date: 2024-11-02
Accepted Date: 2024-12-17
Rev Recd Date: 2024-12-04

Available Online: 2025-01-14

Abstract

Abstract

Autonomous underwater vehicles (AUVs) have many characteristics such as highly nonlinearities、strongly coupling of variables and parameter uncertainties of the model, meanwhile it is also affected by unmeasurable disturbances in the marine environment, which makes it difficult to design the controller for AUVs. In addition, most existing results adopt AUV simplified linear models or only consider single dimensional models. Since the strongly coupling of variables, the designed controllers are only suitable for simplified systems and cannot be extended to original complex AUV systems. To solve the above problems, this paper proposes a T-S fuzzy method based adaptive sliding mode controller for AUV system. The controller has high versatility and strong robustness, and is suitable for complex AUV systems. Firstly, the T-S fuzzy modeling method is used to linearize the AUV systems, and a global linearized model is obtained. Meanwhile, the parameters of the system that are difficult to obtain are transformed into uncertainties, and their reconstruction expressions are obtained. Secondly, considering the presence of internal actuator faults and external environmental disturbances, an adaptive sliding mode controller is designed, which can estimate unknown parameters and adaptively update the control law to stabilize the system. Finally, the stability and state reachability of the closed-loop system are ensured through the Lyapunov stability theory. Simulations verified the effectiveness of the designed controller.
- Nonlinear systems,
- T-S fuzzy model,
- Sliding mode controller,
- Autonomous underwater vehicles (AUVs),
- Adaptive control

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References(20)

References

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