Abstract
According to the characteristics of AUV movement, a fuzzy sliding mode controller was designed, in which fuzzy rules were adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV was simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order wave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.
Highlights
Nowadays the ocean space is an important competition field of military and economic powers in the world, and many countries are vigorously developing deep sea exploration technology
The results showed that the autonomous underwater vehicles (AUV) has good spatial maneuverability and verified the feasibility and reliability of control method
Ma and Cui [7] proposed a robust pathfollowing control method for nonlinear and underactuated AUV based on a fuzzy hybrid control strategy
Summary
Nowadays the ocean space is an important competition field of military and economic powers in the world, and many countries are vigorously developing deep sea exploration technology. Ma and Cui [7] proposed a robust pathfollowing control method for nonlinear and underactuated AUV based on a fuzzy hybrid control strategy. Jia et al [8] presented a nonlinear iterative sliding mode controller based on the virtual guide method. It can decrease the static error and overshoot and achieves high tracking precision. The sliding mode control has been successfully applied to dynamic positioning and motion control of underwater vehicle [11, 12], due to its simple algorithm, robustness against modeling imprecision, and external disturbances. Based on the conventional sliding mode control, fuzzy rules are adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. Compared with conventional sliding mode controller, it has higher precision and stronger antijamming performances, which has good practical values
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