Tuning and Analysis of Sliding Mode Controller Based on Fuzzy Logic
نویسنده
چکیده
This paper focused on the design and implementation of a sliding mode controller with fuzzy logic tuning for depth control of an autonomous underwater vehicle (AUV). A fuzzy tuning approach to sliding mode control is employed for enhancing the tracking performance as well as reducing reaching time. The sliding surface can rotate or shift in the phase space in such a direction that the tracking behavior can be improved, which can be carried out using fuzzy tuning method. The reaching time and tracking error in the approaching phase can be significantly reduced. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, nonlinearities of the vehicle dynamics and environmental disturbances caused by ocean currents and waves.
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