Sliding mode fuzzy controller for autonomous underwater vehicle under deterministic disturbances

Abstract

The main problem for autonomous underwater vehicle (AUV) is not only how to make a stable underwater vehicle but also how to keep the AUV form its desire trajectory. Some perturbations such as wind, waves, and ocean currents are the crucial factors to disturb the AUV. Those will move AUV's position from for the desired track. To cope with this problem, sliding mode control (SMC) is used to make a robust AUV under a range of ocean disturbances. Moreover, the chattering effect which is produced by SMC will be overcome by fuzzy logic control (FLC). A simulation is presented to analyse the effectiveness of proposed control under some deterministic condition. However, the results show that the movement of AUV under high value of disturbances cannot be solved by the proposed control.