scholarly journals Robust Diving Motion Control of an Autonomous Underwater Vehicle Using Adaptive Neuro-Fuzzy Sliding Mode Technique

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 109891-109904 ◽  
Author(s):  
Girish V. Lakhekar ◽  
Laxman M. Waghmare ◽  
Prakash G. Jadhav ◽  
Rupam Gupta Roy
Keyword(s):  
Motion Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Neuro Fuzzy ◽  
Fuzzy Sliding Mode ◽  
Mode Technique ◽  
Sliding Mode Technique

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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