Adaptive S Surface Controller for Hover Control of Underwater Vehicles

Lei Wan; Bin He; Yue Ming Li; Da Peng Jiang

doi:10.4028/www.scientific.net/AMM.563.224

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 563Adaptive S Surface Controller for Hover Control of...

Adaptive S Surface Controller for Hover Control of Underwater Vehicles

Abstract:

Hovering is a common operation condition for underwater vehicles, and the S surface algorithm has been proven to be a pragmatic approach to solve the control problem, however, with poor adaptability under changing environments. In this paper, an adaptive method based on fuzzy rules is proposed to achieve on-line setting of the controller’s parameters according to the relevant theories and experience. Meanwhile, a strategy to adaptively reduce the steady state error during the hovering is put forward. The adaptive S surface controller is test on a full-actuated underwater vehicle, and the pool experiment indicates that the modified controller ensured control accuracy and strong robustness.

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Periodical:

Applied Mechanics and Materials (Volume 563)

Pages:

224-228

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.563.224

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Online since:

May 2014

Authors:

Lei Wan, Bin He*, Yue Ming Li, Da Peng Jiang

Keywords:

Adaptive S Surface, Hover Control, Underwater Vehicle

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* - Corresponding Author

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