Title :
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
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;
Conference_Titel :
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5192-0
Electronic_ISBN :
1948-3414
DOI :
10.1109/CAR.2010.5456607
