Design ofAdaptive FuzzySliding ModeController using FBFEforUFV DepthControl

Generally, theunderwater flight vehicle (UFV)depth control system operates withthefollowing problems: itisamulti-input multi-output (MIMO)system, itrequires robustness andacontinuous control input, andfurther, ithas thespeed dependency ofcontroller parameters. Tosolve these problems, anadaptive fuzzy sliding modecontroller (AFSMC), whichisbased onthedecomposition method using expert knowledge intheUFVdepth control andutilizes afuzzy basis function expansion (FBFE), isproposed. Toverify theperformance oftheAFSMC,UFVdepth control is performed. Simulation results showthat theAFSMCsolves all problems intheUFVdepth control system online.