Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for autonomous underwater vehicles (AUVs). Control of an AUV is a challenging problem due to the highly non-linear dynamics uncertain parameters and unpredictable external disturbances. Therefore, conventional control methods...
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| Format: | Thesis |
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2008
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| Online Access: | http://hdl.handle.net/10356/4284 |
| Summary: | This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for
autonomous underwater vehicles (AUVs). Control of an AUV is a challenging
problem due to the highly non-linear dynamics uncertain parameters and
unpredictable external disturbances. Therefore, conventional control methods have
not been very successful.
The proposed adaptive fuzzy controller can approximate the unknown system
dynamics and is robust against the model uncertainties and external disturbances.
The adaptive hzzy sliding mode controller can be free from the system model and
can achieve simple and fast control for complex nonlinear systems. |
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