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.

Adaptive Fuzzy Sliding Mode Control of MEMS Gyroscope Sensor Using Fuzzy Switching Approach

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Juntao Fei ◽  
Mingyuan Xin
Keyword(s):  
Fuzzy Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Fuzzy Control ◽  
Fuzzy Sliding Mode Control ◽  
Mems Gyroscope ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

In this paper, an adaptive fuzzy sliding mode control strategy, which combines the merits of sliding mode control and adaptive fuzzy control, is proposed to control the MEMS gyroscope in the presence of model uncertainties and external disturbances. The adaptive fuzzy systems are employed to approximate both the equivalent control term and the sliding mode controller. Then the switching control becomes continuous and the chattering phenomena can be attenuated. The adaptation laws based on the Lyapunov analysis can adaptively adjust the fuzzy rules to guarantee the asymptotical stability of the adaptive fuzzy closed-loop control system. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy control schemes.

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