Longitudinal motion control of AUV based on fuzzy sliding mode method (Q1788490)

Summary: According to the characteristics of AUV movement, a fuzzy sliding mode controller is designed, in which fuzzy rules are adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV is simplified and longitudinal motion equations are established on the basis of previous research. The influences of first-order wave force and torque are taken into consideration. The REMUS is selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.