Path following of an underactuated AUV based on fuzzy backstepping sliding mode control
Path following of an underactuated AUV based on fuzzy backstepping sliding mode control
This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV) with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators
1-11
Liang, Xiao
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Wan, Lei
7d414ec6-9634-47ee-a8ff-21b5c4739fec
Blake, James
6afa420d-0936-4acc-861b-36885406c891
Shenoi, Ajit
a37b4e0a-06f1-425f-966d-71e6fa299960
Townsend, Nicholas
3a4b47c5-0e76-4ae0-a086-cf841d610ef0
17 June 2016
Liang, Xiao
f4d2cdee-ab23-472b-ba73-13fd19e28cb5
Wan, Lei
7d414ec6-9634-47ee-a8ff-21b5c4739fec
Blake, James
6afa420d-0936-4acc-861b-36885406c891
Shenoi, Ajit
a37b4e0a-06f1-425f-966d-71e6fa299960
Townsend, Nicholas
3a4b47c5-0e76-4ae0-a086-cf841d610ef0
Liang, Xiao, Wan, Lei, Blake, James, Shenoi, Ajit and Townsend, Nicholas
(2016)
Path following of an underactuated AUV based on fuzzy backstepping sliding mode control.
International Journal of Advanced Robotic Systems, 13 (3), .
(doi:10.5772/64065).
Abstract
This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV) with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators
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Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control (002).pdf
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Accepted/In Press date: 3 May 2016
e-pub ahead of print date: 9 June 2016
Published date: 17 June 2016
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 404180
URI: http://eprints.soton.ac.uk/id/eprint/404180
ISSN: 1729-8806
PURE UUID: a3e9337f-b50b-47ac-90d9-0b9e4a328cda
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Date deposited: 03 Jan 2017 13:36
Last modified: 16 Mar 2024 03:49
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Author:
Xiao Liang
Author:
Lei Wan
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