DESIGN OF ADAPTIVE SLIDING FUZZY CONTROLLER BASED ON DISTURBANCE OBSERVER FOR STABLE DEPTH CONTROL OF UNDERWATER AUTONOMOUS VEHICLE

Abstract

This paper presents a new method for autonomous underwater vehicle (AUV) navigation control based on the combination of sliding fuzzy control and disturbance observer. The proposed sliding fuzzy controller takes advantage of the strengths of both fuzzy logic control and sliding mode control, enabling stable depth control for the autonomous underwater vehicle. The studied sliding fuzzy control method based on disturbance observer plays the role of estimating the position, velocity and total nonlinear disturbance, thereby resisting the total uncertainty disturbance and increasing the robustness of the control system. The simulation results show that the proposed controller has good anti-disturbance ability, fast response time and high stability. The results demonstrate the ability of the sliding fuzzy controller based on disturbance observer in achieving accurate and robust depth stabilization for the autonomous underwater vehicle, even when subjected to disturbances and environmental changes. This study contributes to improving the control performance of AUV and opens up many further research directions.