Spiral Dive Control of Underactuated AUV Based on a Single-Input Fractional-Order Fuzzy Logic Controller

Abstract

Autonomous underwater vehicles (AUVs) have broad applications owing to their ability to undertake long voyages, strong concealment, high level of intelligence and ability to replace humans in dangerous operations. AUV motion control systems can ensure stable operation in the complex ocean environment and have attracted significant research attention. In this paper, we propose a single-input fractional-order fuzzy logic controller (SIFOFLC) as an AUV motion control system. First, a single-input fuzzy logic controller (SIFLC) was proposed based on the signed distance method, whose control input is the linear combination of the error signal and its derivative. The SIFLC offers a significant reduction in the controller design and calculation process. Then, a SIFOFLC was obtained with the derivative of the error signal extending to a fractional order and offering greater flexibility and adaptability. Finally, to verify the superiority of the proposed control algorithm, comparative numerical simulations in terms of spiral dive motion control were conducted. Meanwhile, the parameters of different controllers were optimized according to the hybrid particle swarm optimization (HPSO) algorithm. The simulation results illustrate the superior stability and transient performance of the proposed control algorithm.

Fractional Active Disturbance Rejection Positioning and Docking Control of Remotely Operated Vehicles: Analysis and Experimental Validation

“…∈ R 24 . When the observer gain parameters ι 1 and ι 2 satisfy ι 1 2 − 4ι 2 > 0, all eigenvalues of A have a negative real part.…”

“…Cui designed a single-input fractional fuzzy logic controller for an unmanned underwater vehicle (UUV) motion control system. Simulation results demonstrate that Cui's control algorithm exhibits good stability and transient performance [24]. Liu proposed a fractional-order PI λ controller for UUVs that guarantees both frequency-domain and time-domain behavior, offering greater flexibility in enhancing the system robustness and transient performance [25].…”

Fractional-Order System: Control Theory and Applications

“…According to [8], autonomous underwater vehicles (AUVs) have a wide range of uses due to their capacity to travel great distances, their ability conceal themselves well, their high level of intelligence, and their ability to replace humans in dangerous missions. AUV motion control systems, which can assure steady operation in the complicated ocean environment, have piqued the interest of researchers.…”