Depth control of remotely operated underwater vehicles using an adaptive fuzzy sliding mode controller
Depth control of remotely operated underwater vehicles using an adaptive fuzzy sliding mode controller
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DOI：
10.1016/j.robot.2007.11.004
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发表时间：
2008-08-31
影响因子：
4.3
通讯作者：
Kreuzer, Edwin
中科院分区：
文献类型：
--
作者：
Bessa, Wallace M.;Dutra, Max S.;Kreuzer, Edwin
滑模控制由于其对模型不精确和外部干扰的鲁棒性，已成功地应用于遥控水下机器人的动力定位。为了提高整个系统的性能，必须平滑控制律中的不连续性，以避免不希望的抖振效应。采用适当设计的薄边界层已被证明是有效的，在完全消除抖振，但是，导致较差的跟踪性能。本文介绍了遥控水下机器人深度控制系统的研制。所采用的方法是基于滑模控制策略和增强的自适应模糊算法的不确定性/干扰补偿。利用李雅普诺夫稳定性理论和Barbalat引理，分析证明了闭环系统的稳定性和收敛性。数值结果，以证明控制系统的性能。(C)2007 Elsevier B. V.保留所有权利。
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. (C) 2007 Elsevier B.V. All rights reserved.