Combine Sliding Mode Control and Fuzzy Logic Control for Autonomous Underwater Vehicles

In this chapter, fuzzy sliding mode controllers and sliding mode fuzzy controllers were distinguished, and their respective properties were discussed. A sliding mode fuzzy controller inherits the interpolation property of fuzzy logic control and robustness property of sliding mode control, thereby making it ideal for time optimal robust control. The at-sea experimental data shows that sliding mode fuzzy control can be successfully applied to AUVs, thereby making them another alternative for the robust time optimal control problem. Moreover, since the physical meaning of the rule output function parameters for a sliding mode fuzzy controller is straightforward, the online tuning is made easy. This is exactly why sliding mode fuzzy control is adopted in AUV development at Florida Atlantic University.

[1]  J. Y. Cheung,et al.  Design of a stable and robust fuzzy controller for a class of nonlinear system , 1996, Proceedings of IEEE 5th International Fuzzy Systems.

[2]  K. R. Goheen,et al.  Multivariable self-tuning autopilots for autonomous and remotely operated underwater vehicles , 1990 .

[3]  Jacob S. Glower,et al.  Designing fuzzy controllers from a variable structures standpoint , 1997, IEEE Trans. Fuzzy Syst..

[4]  Sinn-Cheng Lin,et al.  A GA-based fuzzy controller with sliding mode , 1995, Proceedings of 1995 IEEE International Conference on Fuzzy Systems..

[5]  Yun Li,et al.  Genetic algorithms applied to fuzzy sliding mode controller design , 1995 .

[6]  Chung-Chun Kung,et al.  A fuzzy-sliding mode controller design , 1992, [Proceedings 1992] IEEE International Conference on Systems Engineering.

[7]  Euntai Kim,et al.  Variable structure control of nonlinear system using fuzzy variable boundary layer , 1998, 1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228).

[8]  C. K. Li,et al.  A multi-phase fuzzy variable structure controller with improved transient and steady state response , 1993, Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics.

[9]  S. M. Smith,et al.  A variable-structure fuzzy logic controller with run-time adaptation , 1994, Proceedings of 1994 IEEE 3rd International Fuzzy Systems Conference.

[10]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[11]  Dana R. Yoerger,et al.  Supervisory control system for the JASON ROV , 1986 .

[12]  Guang-Chyan Hwang,et al.  A stability approach to fuzzy control design for nonlinear systems , 1992 .

[13]  Michio Sugeno,et al.  Fuzzy identification of systems and its applications to modeling and control , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[14]  Jean-Jacques E. Slotine,et al.  Robust trajectory control of underwater vehicles , 1985 .

[15]  Ya-Chen Hsu,et al.  Fuzzy variable structure control for MIMO systems , 1998, 1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228).

[16]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[17]  Tzuu-Hseng S. Li,et al.  Parallel fuzzy sliding mode control of the cart-pole system , 1995, Proceedings of IECON '95 - 21st Annual Conference on IEEE Industrial Electronics.

[18]  S. Boverie,et al.  Fuzzy sliding mode control. Application to idle speed control , 1994, Proceedings of 1994 IEEE 3rd International Fuzzy Systems Conference.

[19]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[20]  Peter Kwong-Shun Tam,et al.  Combination of sliding mode controller and PI controller using fuzzy logic controller , 1998, 1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228).

[21]  C. M. Lim.  Application of a new fuzzy logic control scheme for stability enhancement: simulation and experimental results , 1995, Proceedings of 1995 IEEE International Conference on Fuzzy Systems..

[22]  Takashi Hiyama,et al.  Application of Fuzzy Logic Control Scheme for Stability Enhancement of a Power System , 1989 .

[23]  John Y. Hung,et al.  Variable structure control: a survey , 1993, IEEE Trans. Ind. Electron..

[24]  Junku Yuh,et al.  A neural net controller for underwater robotic vehicles , 1990 .

[25]  J. C. Wu,et al.  A sliding-mode approach to fuzzy control design , 1996, IEEE Trans. Control. Syst. Technol..

[26]  Chung-Chun Kung,et al.  A Linguistic Fuzzy-Sliding Mode Controller , 1992, 1992 American Control Conference.

[27]  Michael S. Triantafyllou,et al.  Robust control for underwater vehicle systems with time delays , 1991 .

[28]  Masayoshi Tomizuka,et al.  Fuzzy smoothing algorithms for variable structure systems , 1994, IEEE Trans. Fuzzy Syst..