Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties

This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust a...

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Veröffentlicht in:	Computers & operations research Jg. 84; S. 165 - 177
Hauptverfasser:	Xiang, Xianbo, Yu, Caoyang, Zhang, Qin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York Elsevier Ltd 01.08.2017 Pergamon Press Inc
Schlagworte:	3D guidance Accuracy Adaptive algorithms Adaptive control Autonomous underwater vehicle (AUV) Autonomous underwater vehicles Computer simulation Control stability Control systems Disturbances Dynamical systems Environment models Feedback Feedback linearization Fuzzy control Guidance (motion) Heuristic Heuristic methods Kinematics Mathematical models Nonlinear dynamics Operations research Path following Proportional integral derivative Robust fuzzy control Robustness (mathematics) Autonomous underwater vehicle (AUV) 3D guidance Robust fuzzy control Path following
ISSN:	0305-0548, 1873-765X, 0305-0548
Online-Zugang:	Volltext
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