Path following control of autonomous underwater vehicle based upon fuzzy hybrid control

Kongzhi Lilun Yu Yingyong/Control Theory and Applications

Volumn 23, Issue 3, 2006, Pages 341-346

  Ma, Ling ^a   Cui, Wei Cheng ^b  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

^b CHINA SHIP SCIENTIFIC RESEARCH CENTER   (China)

Author keywords

Autonomous underwater vehicle; Fuzzy hybrid control; Path following control; Terminal sliding mode

Indexed keywords

AUTONOMOUS UNDERWATER VEHICLE; FAST TRANSIENT CONVERGENCE; FUZZY HYBRID CONTROL; PATH FOLLOWING CONTROL; PD SLIDING MODE CONTROLLER; SUGENO FUZZY INFERENCE; TERMINAL SLIDING MODE; TRACKING CAPABILITY;

CONTROL EQUIPMENT; SLIDING MODE CONTROL; TRACKING (POSITION); TRANSIENTS; VEHICLES;

FUZZY CONTROL;

EID: 33747382471     PISSN: 10008152     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (11)

1. GODHAVN J M. Nonlinear tracking of underactuated surface vessels[C]//Proc 35th IEEE Conference on Decision and Control. Kobe, Japan: IEEE Press, 1996, 987-991.
2. SKJETNE R, FOSSEN T I. Nonlinear Maneuvering and Control of Ships[C]//Proc of Oceans 2001 MTS/IEEE Conference. Honolulu, Hawaii, USA: IEEE Press, 2001, 1808-1815.
3. LAPIERRE L, SOETANTO D, PASCOAL A. Nonlinear Path Following with Applications to the Control of Autonomous Underwater Vehicles[C]//Proc of the 42nd IEEE Conference on Decision and Control. Maui, Hawaii, LISA: IEEE Press, 2003, 1256-1261.
4. DO K D, JIANG Z P, PAN J. Robust adaptive path following of underactuated ships[J]. Automatica, 2004, 40(6): 929-944.
5. MAN Z, PAPLINSKI A P, WU H. A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators[J]. IEEE Trans on Automatic Control, 1994, 39(12): 2464-2469.
6. FENG Y, YU X, MAN Z. Non-singular terminal sliding mode control of rigid manipulators[J]. Automatica, 2002, 38(12): 2159-2167.
7. YU X, MAN Z. Fast terminal sliding-mode control design for nonlinear dynamical systems[J]. IEEE Trans on Circuits and Systems-I: Fundamental Theory and Applications, 2002, 49(2): 261-264.
8. ZHU Jing. Fuzzy Control Principle and Application[M]. Beijing: Engineering Industry Press, 1995.
9. FJELLSRTAD OLA-ERIK. Control of unmanned underwater vehicles in six degrees of freedom: a quaternion feedback approach[D]. Trondheim: Norwegian University of Science and Technology, 1994.
10. WU Weiguo, CHEN Huitang, WANG Yuejuan. Global trajectory tracking control of mobile robots[J]. Acta Automatica Sinica, 2001, 27(3): 326-331.
11. WANG Min, DU Kelin, HUANG Xinhan. Research on tracking control of robotic sliding mode trajectory[J]. Robot, 2001, 23(3): 217-221.