Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia
Joint Authors
Xu, Guo-Hua
Liu, Gang
Wang, Guanxue
Wang, Wenjin
Li, Ben
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-01-10
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The aim of this paper is to develop a fuzzy iterative sliding mode control (FISMC) scheme for special autonomous underwater vehicles (AUVs) on three-dimensional (3D) path following.
In this paper, the characteristics of the AUV are considered, which include a large scale, large inertia, and high speed.
The FISMC controller designs iterative sliding mode surfaces by using a hyperbolic tangent function to keep the system with fast convergence and robust performance.
At the same time, system uncertainties and environmental disturbances are taken into account.
The control algorithm introduces fuzzy control to optimize the control parameters online to enhance the adaptability of the system and inhibit the chattering of the actuators.
The performance of the proposed FISMC is demonstrated with numerical simulations.
American Psychological Association (APA)
Wang, Guanxue& Xu, Guo-Hua& Liu, Gang& Wang, Wenjin& Li, Ben. 2019. Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1197772
Modern Language Association (MLA)
Wang, Guanxue…[et al.]. Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia. Mathematical Problems in Engineering No. 2019 (2019), pp.1-14.
https://search.emarefa.net/detail/BIM-1197772
American Medical Association (AMA)
Wang, Guanxue& Xu, Guo-Hua& Liu, Gang& Wang, Wenjin& Li, Ben. Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1197772
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197772