Model predictive and adaptive neural sliding mode control for three-dimensional path following of autonomous underwater vehicle with input saturation

2019 ◽  
Vol 32 (22) ◽  
pp. 16875-16889
Author(s):  
Xuliang Yao ◽  
Xiaowei Wang ◽  
Le Zhang ◽  
Xiaogang Jiang
Keyword(s):  
Sliding Mode Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Path Following ◽  
Underwater Vehicle ◽  
Mode Control

scholarly journals Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia

2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Guanxue Wang ◽  
Guohua Xu ◽  
Gang Liu ◽  
Wenjin Wang ◽  
Ben Li
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Large Scale ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Path Following ◽  
Mode Control ◽  
Tangent Function

The aim of this paper is to develop a fuzzy iterative sliding mode control (FISMC) scheme for special autonomous underwater vehicles (AUVs) on three-dimensional (3D) path following. In this paper, the characteristics of the AUV are considered, which include a large scale, large inertia, and high speed. The FISMC controller designs iterative sliding mode surfaces by using a hyperbolic tangent function to keep the system with fast convergence and robust performance. At the same time, system uncertainties and environmental disturbances are taken into account. The control algorithm introduces fuzzy control to optimize the control parameters online to enhance the adaptability of the system and inhibit the chattering of the actuators. The performance of the proposed FISMC is demonstrated with numerical simulations.

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