Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles

• 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
• Institution: Nanyang Technological University

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...