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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

ISBN: 972-8865-29-5

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.

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Paper citation in several formats:
Sebastián E.; A. Sotelo M. and (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

@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},
}

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

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