Adaptive fuzzy control of underwater vehicle manipulator system with dead-zone band input nonlinearities via fuzzy performance and disturbance observers

Abstract

In this paper, an adaptive fuzzy control design problem is investigated for an underwater vehicle manipulator system (UVMS) based on a fuzzy performance observer (FPOB) and fuzzy disturbance observer (FDO). The UVMS is considered as a nonlinear system comprising model uncertainties, external disturbances and dead-zone band input nonlinearities. To mitigate the combined effects of the dead-zone and the hysteresis, a novel pre-deadzone compensator is proposed. Then, fuzzy logic systems (FLSs) with online adaptations are utilized to evaluate the unknown components of the inertia matrix, the Coriolis matrix and the damping matrix. In addition, a fuzzy performance observer is constructed whose errors are used to estimate the external disturbances. Further, an H∞ fuzzy control technique is developed to reduce the errors in estimating the external disturbance. Then, the stability and tracking performance of the closed-loop system are analyzed using the Lyapunov stability theory. It is shown that all signals of the closed-loop system are uniformly ultimately bounded. Finally, simulations are performed to demonstrate the effectiveness of the proposed control scheme in addressing the tracking control problem of the UVMS in presence of the dead-zone band and disturbances.