학술논문
Adaptive fuzzy sliding mode control for spherical underwater robots
Document Type
Conference
Author
Source
2012 IEEE International Conference on Mechatronics and Automation Mechatronics and Automation (ICMA), 2012 International Conference on. :1681-1685 Aug, 2012
Subject
Language
ISSN
2152-7431
2152-744X
2152-744X
Abstract
An adaptive fuzzy sliding mode controller is proposed to deal with the depth and heading regulation of spherical underwater robots. The performance of the proposed controller is investigated in simulation. The controller can realize a better control of the spherical underwater robots. Furthermore, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. Also, the controller is easy for engineering realization. The controller is not specific to such a system and is applicable to a reasonably wide class of engineering systems which can, at least in an operating region of interest, be adequately represented.