Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles

This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for autonomous underwater vehicles (AUVs). Control of an AUV is a challenging problem due to the highly non-linear dynamics uncertain parameters and unpredictable external disturbances. Therefore, conventional control methods...

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Main Author:	Ge, Haoran.
Other Authors:	Balasuriya, Arjuna Prabhath
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Online Access:	http://hdl.handle.net/10356/4284
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-4284
record_format	dspace
spelling	sg-ntu-dr.10356-42842023-07-04T15:14:25Z Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles Ge, Haoran. Balasuriya, Arjuna Prabhath School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for autonomous underwater vehicles (AUVs). Control of an AUV is a challenging problem due to the highly non-linear dynamics uncertain parameters and unpredictable external disturbances. Therefore, conventional control methods have not been very successful. The proposed adaptive fuzzy controller can approximate the unknown system dynamics and is robust against the model uncertainties and external disturbances. The adaptive hzzy sliding mode controller can be free from the system model and can achieve simple and fast control for complex nonlinear systems. Master of Science 2008-09-17T09:48:18Z 2008-09-17T09:48:18Z 2005 2005 Thesis http://hdl.handle.net/10356/4284 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
spellingShingle	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Ge, Haoran. Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
description	This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for autonomous underwater vehicles (AUVs). Control of an AUV is a challenging problem due to the highly non-linear dynamics uncertain parameters and unpredictable external disturbances. Therefore, conventional control methods have not been very successful. The proposed adaptive fuzzy controller can approximate the unknown system dynamics and is robust against the model uncertainties and external disturbances. The adaptive hzzy sliding mode controller can be free from the system model and can achieve simple and fast control for complex nonlinear systems.
author2	Balasuriya, Arjuna Prabhath
author_facet	Balasuriya, Arjuna Prabhath Ge, Haoran.
format	Theses and Dissertations
author	Ge, Haoran.
author_sort	Ge, Haoran.
title	Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
title_short	Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
title_full	Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
title_fullStr	Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
title_full_unstemmed	Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
title_sort	adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
publishDate	2008
url	http://hdl.handle.net/10356/4284
_version_	1772826806357852160

Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles

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