Fuzzy sliding-mode controller for the motion of autonomous underwater vehicle

2008 ◽  
Author(s):  
Xiaocheng Shi ◽  
Jiajia Zhou ◽  
Xinqian Bian ◽  
Juan Li
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode

scholarly journals Autonomous Underwater Vehicle Robust Path Tracking: Auto-Adjustable Gain High Order Sliding Mode Controller

2018 ◽  
Vol 51 (13) ◽  
pp. 161-166 ◽  
Author(s):  
J. Guerrero ◽  
E. Antonio ◽  
A. Manzanilla ◽  
J. Torres ◽  
R. Lozano
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Path Tracking ◽  
High Order ◽  
Sliding Mode 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.            

scholarly journals Implementation of Sliding Mode Observer Based Reconfiguration in an Autonomous Underwater Vehicle

10.14311/730 ◽  
2005 ◽  
Vol 45 (4) ◽  
Author(s):  
A. J. Mitchell ◽  
E. W. McGookin ◽  
D. J. Murray-Smith
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Complete Loss ◽  
Sliding Mode Observer ◽  
Sliding Mode Controller ◽  
Sensor Faults ◽  
State Information ◽  
Sensor Failures ◽  
Sensor Package

This paper looks at the implementation of a Sliding Mode Observer (SMO) based Reconfiguration algorithm to deal with sensor faults within the context of navigation controllers for Autonomous Underwater Vehicle (AUV). In this paper the reconfigurability aspects are considered for the heading controller. Simulation responses are used to illustrate that the Sliding Mode Observer is able to give state information to the controller when there is a fault in the AUV’s sensor package. Comparisons are made between the Sliding Mode Controller with and without reconfigurability for a number of different sensor failures, e.g. bias errors in or the complete loss of the heading data, and the robustness of the Sliding Mode Observer is investigated through the introduction of disturbances into the system. 

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