Adaptive fuzzy sliding mode control for robust trajectory tracking control of an autonomous underwater vehicle

2018 ◽  
Vol 12 (1) ◽  
pp. 87-102 ◽  
Author(s):  
P. S. Londhe ◽  
B. M. Patre
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Trajectory Tracking Control ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

scholarly journals Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Sanxiu Wang
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Robotic Manipulator ◽  
Trajectory Tracking Control ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

In response to the issue of the trajectory tracking control problem of manipulators with uncertain parameters and external disturbance, an adaptive fuzzy sliding mode robust control algorithm is proposed. Sliding mode control (SMC) is adopted to perform robotic manipulator trajectory tracking control. Then, a fuzzy logic system is used for adaptive adjustment of switching gain of the SMC and to reduce the buffeting problem. Next, compensation is made by using the robust controller in consideration of the impacts of unmodeled dynamics and external disturbance. The simulation experiment on a two axes robotic manipulator shows that, with the proposed control method, the sliding mode control input signal is kept smooth, and the manipulator has high trajectory tracking precision.

scholarly journals Robust trajectory tracking control for an underactuated autonomous underwater vehicle based on bioinspired neurodynamics

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880674 ◽  
Author(s):  
Yunbiao Jiang ◽  
Chen Guo ◽  
Haomiao Yu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Parameter Perturbations

This article investigates the three-dimensional trajectory tracking control problem for an underactuated autonomous underwater vehicle in the presence of parameter perturbations and external disturbances. An adaptive robust controller is proposed based on the velocity control strategy and adaptive integral sliding mode control algorithm. First, the desired velocities are developed using coordinate transformation and the backstepping method, which is the necessary velocities for autonomous underwater vehicle to track the time-varying desired trajectory. The bioinspired neurodynamics is used to smooth the desired velocities, which effectively avoids the jump problem of the velocity and simplifies the derivative calculation. Then, the dynamic control laws are designed based on the adaptive integral sliding mode control to drive the underactuated autonomous underwater vehicle to sail at the desired velocities. At the same time, the auxiliary control laws and the adaptive laws are introduced to eliminate the influence of parameter perturbations and external disturbances, respectively. The stability of the control system is guaranteed by the Lyapunov theorem, which shows that the system is asymptotically stable and all tracking errors are asymptotically convergent. At the end, numerical simulations are carried out to demonstrate the effectiveness and robustness of the proposed controller.

Fuzzy Sliding Mode with Region Tracking Control for Autonomous Underwater Vehicle

2015 ◽  
Vol 72 (2) ◽  
Author(s):  
Mohd Bazli Mohd Mokhar ◽  
Zool Hilmi Ismail
Keyword(s):  
Fuzzy Logic ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Signum Function ◽  
Fuzzy Sliding Mode ◽  
Region Tracking ◽  
Chattering Effect

This paper presents fuzzy sliding mode control with region tracking control for a single autonomous underwater vehicle. The vehicle is needed to track a certain moving region whilst under the influence of wave current. The fuzzy logic is used to tune the gain and to reduce the effect of chattering effect, the signum function is replaced by saturation function. Simulation result is presented to demonstrate the performance of the proposed tracking control of the AUV.            

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