Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle
Journal
Ocean Engineering
Journal Volume
30
Journal Issue
16
Pages
2137-2155
Date Issued
2003
Author(s)
Abstract
This work demonstrates the feasibility of applying a sliding mode fuzzy controller to motion control and line of sight guidance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller offers a systematical means of constructing a set of shrinking-span and dilating-span membership functions for the controller. Stability and robustness of the control system are guaranteed by properly selecting the shrinking and dilating factors of the fuzzy membership functions. Control parameters selected for a testbed vehicle, AUV-HM1, are evaluated through tank and field experiments. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, non-linearities of the vehicle dynamics, and environmental disturbances caused by ocean currents and waves. © 2003 Elsevier Ltd. All rights reserved.
SDGs
Type
journal article