Three-Dimensional Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

This paper addresses the problem of three-dimensional (3D) path following control for underactuated autonomous underwater vehicles in the presence of parameter uncertainties and external disturbances. Firstly, 3D path following error model was established based on virtual guidance method. Then, an a...

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Bibliographic Details
Published in:International journal of fuzzy systems 2018-02, Vol.20 (2), p.640-649
Main Authors: Liang, Xiao, Qu, Xingru, Wan, Lei, Ma, Qiang
Format: Article
Language:English
Subjects:
Adaptive control
Artificial Intelligence
Autonomous underwater vehicles
Computational Intelligence
Controllers
Design
Disturbances
Energy consumption
Engineering
Fuzzy control
Fuzzy logic
Kinematics
Management Science
Neural networks
Nonlinearity
Operations Research
Parameter uncertainty
Robust control
Sliding mode control
System theory
Systems stability
Trajectory planning
Vehicles
Velocity
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Summary:This paper addresses the problem of three-dimensional (3D) path following control for underactuated autonomous underwater vehicles in the presence of parameter uncertainties and external disturbances. Firstly, 3D path following error model was established based on virtual guidance method. Then, an adaptive robust control system was proposed using backstepping and sliding mode control, and we adopt fuzzy logic theory to approximate unknown nonlinear function to solve the problems of nonlinearity, uncertainties and external disturbances in the path following. System stability was proved by Lyapunov stable theory. Finally, simulations were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances.
ISSN:1562-2479
2199-3211
DOI:10.1007/s40815-017-0386-y