scholarly journals Adaptive Fuzzy Sliding Mode Controller for the Snorkel Underwater Vehicle

2006 ◽  
pp. 855-866 ◽  
Author(s):  
Eduardo Sebastián
Keyword(s):  
Sliding Mode ◽  
Underwater Vehicle ◽  
Sliding Mode Controller ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

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

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984021
Author(s):  
Yuan Chen ◽  
Yinpo Yan ◽  
Kangling Wang ◽  
Shuqi Liu
Keyword(s):  
Fuzzy Control ◽  
Sliding Mode ◽  
Adaptive Fuzzy Control ◽  
Underwater Vehicle ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Depth Control ◽  
Fuzzy Sliding Mode

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.

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