Adaptive fuzzy sliding mode control for spherical underwater robots

An adaptive fuzzy sliding mode controller is proposed to deal with the depth and heading regulation of spherical underwater robots. The performance of the proposed controller is investigated in simulation. The controller can realize a better control of the spherical underwater robots. Furthermore, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. Also, the controller is easy for engineering realization. The controller is not specific to such a system and is applicable to a reasonably wide class of engineering systems which can, at least in an operating region of interest, be adequately represented.