Nonlinear underwater robot controller design with adaptive disturbance prediction

DOI

10.2991/ijcis.2011.4.4.19How to use a DOI?

Keywords

adaptive control; fuzzy sliding mode; underwater robot; disturbance prediction; compensation

Abstract

A new hybrid adaptive control algorithm is proposed for the nonlinear system controller design of underwater robot. Compared with the previous works in the controller design of underwater robot, the main advantages of this work are: (1) A new disturbance prediction and compensation model is proposed; (2) A new adaptive fuzzy smoother is proposed for the control input; (3) A time-varying flow disturbance is considered for the control design which is always neglected in many previous works and several practical experiments under different environment were implemented to verify the control performance. The Lyapunov stability theory proves the stability and convergence of this new control system. Simulation and experiment results demonstrate the performance and the effectiveness of this new algorithm.

Copyright

© 2011, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Xin Songa
AU  - Fang Liue
AU  - ZaoJian Zoub
AU  - Yue-Min Zhuc
AU  - JianChuan Yinb
AU  - Feng Xub
PY  - 2011
DA  - 2011/07/05
TI  - Nonlinear underwater robot controller design with adaptive disturbance prediction
JO  - International Journal of Computational Intelligence Systems
SP  - 634
EP  - 643
VL  - 4
IS  - 4
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.2011.4.4.19
DO  - 10.2991/ijcis.2011.4.4.19
ID  - Songa2011
ER  -