Abstract
The paper aims to present the design and performance of a single input fuzzy sliding mode controller (SIFSMC) to control the motion of deep submergence rescue vehicle (DSRV). The proposed controller uses the linear single dimension rule base where as the conventional fuzzy sliding mode controllers (CFSMC) uses the two-dimensional rule base. Moreover, the proposed controller does not merely depend on the DSRV exact mathematical model unlike that of the linear controllers. Using SIFSMC, the number of rules governs are also greatly reduced in comparison with the CFSMC, without compromising the overall performance. The robustness, equivalency and efficacy of proposed idea is illustrated through the simulation results using a marine system simulator in MATLAB/Simulink® environment. The main objective of the paper is to compare CFSMC and SIFSMC for UUV’s. Consequently, a comparative analysis of proposed SIFSMC is shown with the CFSMC for the same system of DSRV.
Highlights
Over the years, the importance of Unmanned Underwater Vehicle (UUV), has been significantly increased in marine environmental exploration
This paper presents a simplified yet effective fuzzy sliding mode controller for a Deep Submergence Rescue Vehicle (DSRV)
It must be noted that the objective of this paper is to show the performance equivalency of the Conventional Fuzzy Sliding Mode Controllers (CFSMC) and Single Input Fuzzy Sliding Mode Controller (SIFSMC) for the DSRV system
Summary
The importance of Unmanned Underwater Vehicle (UUV), has been significantly increased in marine environmental exploration. The applications of model-based control schemes like SMC are found to be less interesting to the researchers as compared to the remaining two which do not require such models It is quite evident from the reported works that both FLC and ANN appear to be extremely promising for marine applications; both approaches require considerably high computational power due to intricate decision-making steps [18,19,20,21,22,23,24,25,26,27,28,29,30].
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