Control strategy analysis of underwater robot based on LOS fuzzy control

Jiamao Pang

doi:10.1117/12.2641519

10 November 2022 Control strategy analysis of underwater robot based on LOS fuzzy control

Jiamao Pang

Proceedings Volume 12348, 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022); 123482H (2022) https://doi.org/10.1117/12.2641519
Event: 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022), 2022, Zhuhai, China

Abstract

Autonomous Underwater Vehicle (AUV) is a complex system. As one of the research fields valued by the state, the control problem of AUV has become a research hotspot in the field. The system model of the vehicle is nonlinear, and the hydrodynamic parameters of the vehicle are uncertain. These problems add higher requirements to the control system design of AUV. In this paper, the control of autonomous underwater vehicle is studied based on the sliding mode control, fuzzy control and adaptive control methods. In depth control and attitude control, a fuzzy sliding mode controller is designed. Based on the design of horizontal path tracking fuzzy sliding mode controller, the sliding mode chattering and tracking accuracy problems in horizontal path tracking sliding mode controller are considered to ensure the performance index of sliding mode switching gain to get rid of external dependence and realize autonomous motion. The research on the control technology of autonomous underwater vehicle has far-reaching significance.

Citation Download Citation

Jiamao Pang "Control strategy analysis of underwater robot based on LOS fuzzy control", Proc. SPIE 12348, 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022), 123482H (10 November 2022); https://doi.org/10.1117/12.2641519

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