An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle

An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle

An adaptive fuzzy sliding mode controller is proposed for the depth control of an underactuated underwater vehicle based on the state-dependent Riccati equation. An adaptive fuzzy control algorithm is embedded into the sliding mode controller to solve the buffering and mismatched uncertain problems...

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Bibliographic Details
Main Authors: Yuan Chen, Yinpo Yan, Kangling Wang, Shuqi Liu
Format: Article
Language:English
Published: SAGE Publishing 2019-04-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881419840213
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spelling doaj-c55b6b0037624e819b2df31284926a332020-11-25T03:24:08ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142019-04-011610.1177/1729881419840213An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicleYuan ChenYinpo YanKangling WangShuqi LiuAn adaptive fuzzy sliding mode controller is proposed for the depth control of an underactuated underwater vehicle based on the state-dependent Riccati equation. An adaptive fuzzy control algorithm is embedded into the sliding mode controller to solve the buffering and mismatched uncertain problems in the robust sliding mode variable structure controller, where an auxiliary fuzzy control unit is designed to automatically adjust the scale factor of the main fuzzy controller output. Based on Lyapunov stability theory and final value bounded theorem, the stability and convergence properties of the closed-loop system are demonstrated. Numerical simulations are carried out to validate the effectiveness of the proposed controller.https://doi.org/10.1177/1729881419840213
collection DOAJ
language English
format Article
sources DOAJ
author Yuan Chen
Yinpo Yan
Kangling Wang
Shuqi Liu
spellingShingle Yuan Chen
Yinpo Yan
Kangling Wang
Shuqi Liu
An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
International Journal of Advanced Robotic Systems
author_facet Yuan Chen
Yinpo Yan
Kangling Wang
Shuqi Liu
author_sort Yuan Chen
title An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
title_short An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
title_full An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
title_fullStr An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
title_full_unstemmed An adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
title_sort adaptive fuzzy sliding mode controller for the depth control of an underactuated underwater vehicle
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2019-04-01
description An adaptive fuzzy sliding mode controller is proposed for the depth control of an underactuated underwater vehicle based on the state-dependent Riccati equation. An adaptive fuzzy control algorithm is embedded into the sliding mode controller to solve the buffering and mismatched uncertain problems in the robust sliding mode variable structure controller, where an auxiliary fuzzy control unit is designed to automatically adjust the scale factor of the main fuzzy controller output. Based on Lyapunov stability theory and final value bounded theorem, the stability and convergence properties of the closed-loop system are demonstrated. Numerical simulations are carried out to validate the effectiveness of the proposed controller.
url https://doi.org/10.1177/1729881419840213
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