A novel fuzzy adaptive finite-time extended state observer based robust control for an autonomous underwater vehicle subject to external disturbances and measurement noises

• Published in: Ocean engineering Vol. 318; p. 120141
• Main Authors: Ji, Soobin, Thai, Ba-Hoa, Yoo, Seongjun, Youn, Wonkeun
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 15.02.2025
• Subjects: AUV; Finite-time extended state observer; Fuzzy logic; Nonsingular fast terminal sliding mode controller; Trajectory tracking; Fuzzy logic; Finite-time extended state observer; Nonsingular fast terminal sliding mode controller; AUV; Trajectory tracking
• ISSN: 0029-8018
• DOI: 10.1016/j.oceaneng.2024.120141

This paper proposes a novel fuzzy adaptive finite-time extended state observer (FFTESO)-based non-singular fast terminal sliding mode controller (NFTSMC) for an autonomous underwater vehicle (AUV). First, a novel finite-time extended state observer (FTESO) is proposed to compensate for high-frequency external disturbances. Second, a fuzzy logic system is introduced to ensure that FTESO has adaptive observer gains in the presence of measurement noise. Third, along with the FFTESO, a NFTSMC is proposed to ensure finite-time convergence, no singularity problem, and fast convergence characteristics. The globally asymptotically convergence is also proved through Lyapunov theory. Next, an energy-efficient control allocation method for an over-actuated AUV is presented. Finally, hardware in the loop simulations are conducted to verify the effectiveness of our proposed FFTESO-based NFTSMC compared with state-of-the-art methods in various scenarios. •A novel FTESO is proposed to accurately estimate high frequency external disturbances in finite time for over-actuated AUV.•A novel fuzzy adaptive FTESO (FFTESO) is introduced to ensure the time-varying observer gains under the influence of measurement noise.•A novel FFTESO-based NFTSMC is proposed for over-actuated AUV and the stability of the entire system is proven based on Lyapunov stability theory.•A novel energy-efficient control allocation method is proposed for a 6-DOF nonlinear model of high-fidelity over-actuated AUV.