Path following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

Abstract

This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV) with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators.

Underactuated robotics: A review

“…185 Based on the speed control strategy and the adaptive integral SMC algorithm, an adaptive robust controller is proposed. 186 Based on a novel Nussbaum-type function, Huang et al 187 proposed an adaptive control scheme for a class of strictly feedback nonlinear systems. The problem of underactuating the AUV path was solved.…”

“…Fuzzy control Model-based fuzzy control [154][155][156][157][158][159][234][235][236] Model-free fuzzy control [160][161][162]164,[166][167][168][169][170][237][238][239] Hybrid fuzzy control [171][172][173][174] The integration of fuzzy control with other traditional control Fuzzy PID composite control [175][176][177][178][179][180][181][182][240][241][242] Sliding mode variable structure control 205, Backstepping control 186,[276][277][278][279] Adaptive fuzzy control 127,189,190,[280][281][282]…”

Design and Experiment of a Plateau Data-Gathering AUV

“…AUVs are strong coupling and highly nonlinear systems typically, and it is difficult to establish accurate motion models. Among the various AUV control algorithms, the sliding mode controlled by sliding mode variable structure is robust to parameter changing and unmodeled parts of the system, which makes the SMC method an effective method for controlling AUVs [31][32][33] In summary, considering the complexity of vertical motions of the AUV, the SMC method is chosen as a controller for vertical motion.…”

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

“…Moreover, some of the published research results have been derived by combining the traditional LOS approach and nonlinear control methods [7,13,14,20,]. It is noteworthy that some researchers execute path following control using complex system state transform techniques and intelligent learning algorithms which are difficult to design and not easy to implement in the real path following control system [4,6,[9][10][11][12][15][16][17][18][19]21]. Motivated by those considerations, this paper addresses path following control of an underactuated USV based on an improved LOS guidance algorithm.…”

“…A design of new controllers that make underactuated ships navigating under both deterministic and stochastic sea loads to globally track the reference path is presented in [17], where the loads are decomposed to a deterministic part, treated as a set of unknown constants, and a time-varying part, which is considered a form of stochastic disturbances with unknown time-varying covariances. The path following problem of an underactuated AUV is addressed in [18], with the aim of dealing with parameter uncertainties and current disturbances. In that paper, an adaptive robust control system is developed by employing fuzzy logic, backstepping, and the sliding mode control theory.…”