Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances
The main problem for autonomous underwater vehicle (AUV) is not only how to make a stable underwater vehicle but also how to keep the AUV form its desire trajectory. Some perturbations such as wind, waves, and ocean currents are the crucial factors to disturb the AUV. Those will move AUV's posi...
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| Format: | Article |
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Japan Science and Technology Agency (JST)
2015
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| _version_ | 1796860904926609408 |
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| author | Ismail, Zool Hilmi Mohd. Mokhar, Mohd. Bazli Putranti, Vina Wahyuni |
| author_facet | Ismail, Zool Hilmi Mohd. Mokhar, Mohd. Bazli Putranti, Vina Wahyuni |
| author_sort | Ismail, Zool Hilmi |
| collection | ePrints |
| description | The main problem for autonomous underwater vehicle (AUV) is not only how to make a stable underwater vehicle but also how to keep the AUV form its desire trajectory. Some perturbations such as wind, waves, and ocean currents are the crucial factors to disturb the AUV. Those will move AUV's position from for the desired track. To cope with this problem, sliding mode control (SMC) is used to make a robust AUV under a range of ocean disturbances. Moreover, the chattering effect which is produced by SMC will be overcome by fuzzy logic control (FLC). A simulation is presented to analyse the effectiveness of proposed control under some deterministic condition. However, the results show that the movement of AUV under high value of disturbances cannot be solved by the proposed control. |
| first_indexed | 2024-03-05T19:48:17Z |
| format | Article |
| id | utm.eprints-60417 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:48:17Z |
| publishDate | 2015 |
| publisher | Japan Science and Technology Agency (JST) |
| record_format | dspace |
| spelling | utm.eprints-604172021-07-28T14:31:19Z http://eprints.utm.my/60417/ Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances Ismail, Zool Hilmi Mohd. Mokhar, Mohd. Bazli Putranti, Vina Wahyuni TK Electrical engineering. Electronics Nuclear engineering The main problem for autonomous underwater vehicle (AUV) is not only how to make a stable underwater vehicle but also how to keep the AUV form its desire trajectory. Some perturbations such as wind, waves, and ocean currents are the crucial factors to disturb the AUV. Those will move AUV's position from for the desired track. To cope with this problem, sliding mode control (SMC) is used to make a robust AUV under a range of ocean disturbances. Moreover, the chattering effect which is produced by SMC will be overcome by fuzzy logic control (FLC). A simulation is presented to analyse the effectiveness of proposed control under some deterministic condition. However, the results show that the movement of AUV under high value of disturbances cannot be solved by the proposed control. Japan Science and Technology Agency (JST) 2015 Article PeerReviewed Ismail, Zool Hilmi and Mohd. Mokhar, Mohd. Bazli and Putranti, Vina Wahyuni (2015) Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances. Journal Of Signal Processing, 19 (4). pp. 143-146. ISSN 1880-1013 http://www.dx.doi.org/10.2299/jsp.19.143 DOI: 10.2299/jsp.19.143 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ismail, Zool Hilmi Mohd. Mokhar, Mohd. Bazli Putranti, Vina Wahyuni Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances |
| title | Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances |
| title_full | Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances |
| title_fullStr | Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances |
| title_full_unstemmed | Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances |
| title_short | Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances |
| title_sort | sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT ismailzoolhilmi slidingmodefuzzycontrollerforautonomousunderwatervehicleunderdeterministicdisturbances AT mohdmokharmohdbazli slidingmodefuzzycontrollerforautonomousunderwatervehicleunderdeterministicdisturbances AT putrantivinawahyuni slidingmodefuzzycontrollerforautonomousunderwatervehicleunderdeterministicdisturbances |