ADAPTIVE FUZZY SLIDING MODE CONTROLLER FOR THE SNORKEL UNDERWATER VEHICLE

Eduardo Sebastián, Miguel A. Sotelo

Abstract

This paper describes a control system for the kinematic variables of an underwater vehicle. Control of underwater vehicles is not simple, mainlys due to the nonlinear, coupled and unknown character of system equations and dynamics. The proposed methodology makes use of a pioneering algorithm implemented for the first time in an underwater vehicle, and it is based on the fusion of a sliding mode controller and an adaptive fuzzy system, including advantages of both systems and relaxing the required knowledge of vehicle model.

References

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Paper Citation


in Harvard Style

Sebastián E. and A. Sotelo M. (2005). ADAPTIVE FUZZY SLIDING MODE CONTROLLER FOR THE SNORKEL UNDERWATER VEHICLE . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 255-259. DOI: 10.5220/0001164002550259


in Bibtex Style

@conference{icinco05,
author={Eduardo Sebastián and Miguel A. Sotelo},
title={ADAPTIVE FUZZY SLIDING MODE CONTROLLER FOR THE SNORKEL UNDERWATER VEHICLE},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={255-259},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001164002550259},
isbn={972-8865-29-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ADAPTIVE FUZZY SLIDING MODE CONTROLLER FOR THE SNORKEL UNDERWATER VEHICLE
SN - 972-8865-29-5
AU - Sebastián E.
AU - A. Sotelo M.
PY - 2005
SP - 255
EP - 259
DO - 10.5220/0001164002550259