Adaptive Fuzzy Sliding Mode Controller for the Snorkel Underwater Vehicle

摘要

This paper address the kinematic variables control problem for the low-speed manoeuvring of a low cost and underactuated underwater vehicle. Control of underwater vehicles is not simple, mainly due to the non-linear and coupled character of plant equations, the lack of a precise model of vehicle dynamics and parameters, as well as the appearance of internal and external perturbations. The proposed methodology is an approach that makes use of a pioneering algorithm in underwater vehicles, based on the fusion of a robust or sliding mode controller and an adaptive fuzzy system, including the advantages of both systems. The main property of this methodology is that it relaxes the required knowledge of vehicle model, reducing the cost of its design.