Controlling the position of a remotely operated underwater vehicle
Applied Mathematics and Computation - Special issue on dynamics and control
Design of fuzzy sliding-mode control systems
Fuzzy Sets and Systems
Output-feedback control of an underwater vehicle prototype by higher-order sliding modes
Automatica (Journal of IFAC)
An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles
Robotics and Autonomous Systems
Sliding Mode Control with Adaptive Fuzzy Dead-Zone Compensation of an Electro-hydraulic Servo-System
Journal of Intelligent and Robotic Systems
International Journal of Automation and Computing
Nonlinear controller design of a ship autopilot
International Journal of Applied Mathematics and Computer Science
A supervisory loop approach to fulfill workspace constraints in redundant robots
Robotics and Autonomous Systems
Adaptive fuzzy sliding mode control for electro-hydraulic servo mechanism
Expert Systems with Applications: An International Journal
Hi-index | 0.00 |
Sliding mode control, due to its robustness against modelling imprecisions and external disturbances, has been successfully employed to the dynamic positioning of remotely operated underwater vehicles. In order to improve the performance of the complete system, the discontinuity in the control law must be smoothed out to avoid the undesirable chattering effects. The adoption of a properly designed thin boundary layer has proven effective in completely eliminating chattering, however, leading to an inferior tracking performance. This paper describes the development of a depth control system for remotely operated underwater vehicles. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm for uncertainty/disturbance compensation. The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat's lemma. Numerical results are presented in order to demonstrate the control system performance.