Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A fuzzy sliding mode controller design for the hovering system of underwater vehicles

수중운동체의 호버링시스템을 위한 퍼지 슬라이딩 모드 제어기 설계

  • Kim, Jong-Sik (Dept.of Mechanical Design Engineering, Busan National University) ;
  • Kim, Sung-Min (Mechanical Technology Research Center, Busan National University)
  • 김종식 (부산대학교 기계설계공학과) ;
  • 김성민 (부산대학교 기계기술연구소)
  • Published : 1995.09.01
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Abstract

Nonlinear depth control algorithms for the hovering system of underwater vehicles are presented. In this paper, a nonlinear effect in heave motion for underwater vehicles, a deadzone effect of the flow control valve in the hovering tank and an impact disturbance are considered. In this situation, in order to choose a desirable controller, sliding mode controller and fuzzy sliding mode controller are designed and compared. The computer simulation results show that the fuzzy sliding mode control system is more suitable in order to maintain a desirable depth of an underwater vehicle with a deadzone and impact disturbance.

Keywords

References

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