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Fuzzy-Sliding-Mode-Based Robust Tracking Control Of Autonomous Underwater Vehicles, Qiaomei Sun, Jinguo Chen, Wan Yu, Huashan Su

Journal of Marine Science and Technology

Control of an autonomous underwater vehicle (AUV) is difficult due to its nonlinear and coupled characteristics, parameter uncertainties, and unknown disturbances. This paper presents a motion control system based on an adaptive fuzzy sliding mode control (FSMC) method for trajectory tracking of an AUV. The proposed FSMC method is primarily based on a combination of sliding mode control (SMC) strategy with an adaptive fuzzy algorithm to estimate external disturbances and weaken the chattering effect. A waypoint guidance law based on a line-of-sight (LOS) algorithm is applied to the guidance system. Simulation studies confirm a good performance of the proposed controller. …