Path following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control | Zendy

Xiao Liang | Zendy; Lei Wan | Zendy; J.I.R. Blake | Zendy; R.A. Shenoi | Zendy; Nicholas Townsend | Zendy

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Path following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

Author(s) -

Xiao Liang,

Lei Wan,

J.I.R. Blake,

R.A. Shenoi,

Nicholas Townsend

Publication year - 2016

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/64065

Subject(s) - backstepping , control theory (sociology) , underactuation , computer science , fuzzy logic , robustness (evolution) , controller (irrigation) , sliding mode control , lyapunov function , robust control , control engineering , control system , adaptive control , nonlinear system , control (management) , engineering , artificial intelligence , physics , biochemistry , chemistry , electrical engineering , quantum mechanics , biology , agronomy , gene

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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