Authors:
Eduardo Sebastián
1
and
Miguel A. Sotelo
2
Affiliations:
1
Lab. de Robótica y Exploración Planetaria, Centro de Astrobiología, Spain
;
2
Universidad de Alcalá, Spain
Keyword(s):
Sliding mode control, fuzzy models, nonlinear control, robots dynamics, marine systems.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robot Design, Development and Control
;
Robotics and Automation
;
Soft Computing
;
Vehicle Control Applications
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.