A fuzzy sliding mode controller with adaptive disturbance approximation for underwater robot

Author

Xin, Song ; Zaojian, Zou

Author_Institution

Sch. of Naval Arch. Ocean & Civil Eng., Shanghai Jiao Tong Univ., Shanghai, China

Volume

2

fYear

2010

fDate

6-7 March 2010

Firstpage

50

Lastpage

53

Abstract

A new fuzzy sliding mode controller with adaptive disturbance approximation is proposed for underwater robot. A new disturbance/uncertainties compensation is presented and the Lyapunov stability theory proves the stability and convergence of the closed-loop system. Large time-varying disturbance and uncertainties are introduced in the simulation and the results demonstrate the system performance.

Keywords

Lyapunov methods; closed loop systems; convergence; fuzzy control; mobile robots; underwater vehicles; variable structure systems; Lyapunov stability theory; adaptive disturbance approximation; closed loop system; convergence; fuzzy sliding mode controller; underwater robot; Adaptive control; Convergence; Fuzzy control; Lyapunov method; Programmable control; Robots; Sliding mode control; Stability; Time varying systems; Uncertainty; disturbance approximation; fuzzy sliding mode; underwater robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on

Conference_Location

Wuhan

ISSN

1948-3414

Print_ISBN

978-1-4244-5192-0

Electronic_ISBN

1948-3414

Type

conf

DOI

10.1109/CAR.2010.5456607

Filename

5456607