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

International Journal of Advanced Robotic Systems

R. Ajit Shenoi¹  Nicholas Townsend¹  James I.R. Blake¹  Xiao Liang¹  Lei Wan¹ 

关键词: Underactuated AUV;    Path Following;    Fuzzy Logic;    Backstepping Sliding Mode Control;    Robustness;   

DOI  :  10.5772/64065

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

Unknown