- 期刊
FUZZY-SLIDING-MODE-BASED ROBUST TRACKING CONTROL OF AUTONOMOUS UNDERWATER VEHICLES
摘要
Control of an autonomous underwater vehicle (AUV) is difficult due to its nonlinear and coupled characteristics, parameter uncertainties, and unknown disturbances. This paper presents a motion control system based on an adaptive fuzzy sliding mode control (FSMC) method for trajectory tracking of an AUV. The proposed FSMC method is primarily based on a combination of sliding mode control (SMC) strategy with an adaptive fuzzy algorithm to estimate external disturbances and weaken the chattering effect. A waypoint guidance law based on a line-of-sight (LOS) algorithm is applied to the guidance system. Simulation studies confirm a good performance of the proposed controller. The results are compared with those obtained with a sliding mode controller in terms of robustness and accuracy.
延伸閱讀
- Gan, W. Y., Zhu, D. Q., Xu, W. L., & Sun, B. (2017). SURVEY OF TRAJECTORY TRACKING CONTROL OF AUTONOMOUS UNDERWATER VEHICLES. Journal of Marine Science and Technology, 25(6), 722-731. https://doi.org/10.6119/JMST-017-1226-13
- Chang, W. J., Chang, W., & Liu, H. H. (2003). Model-Based Fuzzy Modeling and Control for Autonomous Underwater Vehicles in the Horizontal Plane. Journal of Marine Science and Technology, 11(3), 155-163. https://doi.org/10.6119/JMST.200309_11(3).0004
- 游士佳（2001）。Integral Sliding Mode Control for Autonomous Underwater Vehicles〔碩士論文，元智大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0009-0112200611313740
- Tsai, M. J. (2005). Guidance and Control for Moving-target Tracking using a Biomimetic Autonomous Underwater Vehicle [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2005.02937
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