FSM trajectory tracking controllers of OB-AUV in the horizontal plane

Fangui Meng,Aimin Liu, Shuai Jing, Yi Zu

2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)（2021）

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摘要

In this paper, fuzzy sliding mode (FSM) trajectory tracking controllers of an autonomous underwater vehicle with oil bladder (OB-AUV) in the horizontal plane is proposed, which solves the chattering problem of the traditional AUV sliding mode (SM) controller and improves the accuracy of trajectory tracking. The oil bladder structure of Argo float is adopted in the vertical plane of the OB-AUV, and...

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关键词

PI control,Trajectory tracking,Oils,Robot kinematics,Ocean waves,Kinematics,Bladder

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