Title of article :
Fuzzy Sliding Mode with Region Tracking Control for Autonomous Underwater Vehicle
Author/Authors :
Mokhar, Mohd Bazli Mohd Universiti Teknologi Malaysia - Center for Artificial Intelligence and Robotics, Malaysia , Ismail, Zool Hilmi Universiti Teknologi Malaysia (UTM) - Faculty of Electrical Engineering, Malaysia
Abstract :
This paper presents fuzzy sliding mode control with region tracking control for a single autonomousunderwater vehicle. The vehicle is needed to track a certain moving region whilst under the influence of wave current. The fuzzy logic is used to tune the gain and to reduce the effect of chattering effect, the signum function is replaced by saturation function. Simulation result is presented to demonstrate the performance of the proposed tracking control of the AUV.
Keywords :
Underwater vehicle , sliding mode control , fuzzy logic , region tracking
Journal title :
Jurnal Teknologi :F
Journal title :
Jurnal Teknologi :F
