ADAPTIVE SPATIAL TRAJECTORY TRACKING CONTROL FOR AUTONOMOUS UNDERWATER VEHICLE

An adaptive control system (102) for autonomous underwater vehicle (AUV) is described.The system mainly includes a fuzzy logic adaptive system (FLAS) controller (106) configured to tune slope of switching function for tracking of AUV and in order to minimize both a reaching time and a chattering in...

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Bibliographische Detailangaben
Hauptverfasser:	Lakhekar, Girish Vithalrao, Rohit Shende, Dipali, Madhavrao Waghmare, Laxman
Format:	Patent
Sprache:	eng
Schlagworte:	CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Beschreibung
Zusammenfassung:	An adaptive control system (102) for autonomous underwater vehicle (AUV) is described.The system mainly includes a fuzzy logic adaptive system (FLAS) controller (106) configured to tune slope of switching function for tracking of AUV and in order to minimize both a reaching time and a chattering in the control signal received, wherein the FLAS controller (106) consists of a switching control interface (114) in order to covert an input numerical value into an output variable to control said AUV. An integral terminal sliding surface (104) with a nonsingular form of terminal sliding mode control (TSMC) (112) configured for convergence response in order to achieve a tracking accuracy. An equivalent control system (108) having a time delay estimator (TDE) unit (110) coupled with the TSMC (112). o o 0 bb 0 (1U m Eo = M 4) - E2L 0 Du CuC U Cu Cu r.E~ ~Cu~0 Wu u ul0U LA. m to 4-0 W m ul E . to G C Cu2.- cu .2 L- .- 7.-m4 OD m 4-o CL C- CU w to totoE 1 CuU 4-'a >4-