Longitudinal Motion Control of AUV Based on Fuzzy Sliding Mode Method

• Main Authors: Duo Qi, Jinfu Feng, Jian Yang
• Format: Article
• Language: English
• Published: Hindawi Limited 2016-01-01
• Series: Journal of Control Science and Engineering
• Online Access: http://dx.doi.org/10.1155/2016/7428361

According to the characteristics of AUV movement, a fuzzy sliding mode controller was designed, in which fuzzy rules were adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV was simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order wave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.