ADAPTIVE SPATIAL TRAJECTORY TRACKING CONTROL FOR AUTONOMOUS UNDERWATER VEHICLE

• Main Authors: Lakhekar, Girish Vithalrao, Rohit Shende, Dipali, Madhavrao Waghmare, Laxman
• Format: Patent
• Language: English
• Published: 15.04.2021
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

An adaptive control system (102) for autonomous underwater vehicle (AUV) is described.The system mainly includes a fuzzy logic adaptive system (FLAS) controller (106) configured to tune slope of switching function for tracking of AUV and in order to minimize both a reaching time and a chattering in the control signal received, wherein the FLAS controller (106) consists of a switching control interface (114) in order to covert an input numerical value into an output variable to control said AUV. An integral terminal sliding surface (104) with a nonsingular form of terminal sliding mode control (TSMC) (112) configured for convergence response in order to achieve a tracking accuracy. An equivalent control system (108) having a time delay estimator (TDE) unit (110) coupled with the TSMC (112). o o 0 bb 0 (1U m Eo = M 4) - E2L 0 Du CuC U Cu Cu r.E~ ~Cu~0 Wu u ul0U LA. m to 4-0 W m ul E . to G C Cu2.- cu .2 L- .- 7.-m4 OD m 4-o CL C- CU w to totoE 1 CuU 4-'a >4-