Robust control for MIMO hybrid dynamical system of underwater vehicles by composite adaptive fuzzy estimation of uncertainties

Robust control for MIMO hybrid dynamical system of underwater vehicles by composite adaptive... In this paper, based on a proposed MIMO hybrid dynamical system of underwater vehicle and its actuators, a robust composite adaptive fuzzy controller is presented. The proposed method employs voltage control effort, which is more efficient than the torque control strategy. Also it is very simple, efficient and robust. Based on adaptive fuzzy method and the prediction error between the system states and the serial–parallel estimation model, a composite adaptive fuzzy law that uses the modeling error as input is constructed to adaptively compensate the unknown uncertainties and disturbances of the system. In addition, the proposed scheme is able to estimate the lumped uncertainties with large amplitude and high frequency. Stability of the proposed method is shown based on Lyapunov approach. The proposed control scheme is not limited only to control of the underwater vehicles, but can be applied for a class of nonlinear MIMO systems with square and non-square control gains. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Nonlinear Dynamics Springer Journals

Robust control for MIMO hybrid dynamical system of underwater vehicles by composite adaptive fuzzy estimation of uncertainties

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Publisher
Springer Netherlands
Copyright
Copyright © 2017 by Springer Science+Business Media Dordrecht
Subject
Engineering; Vibration, Dynamical Systems, Control; Classical Mechanics; Mechanical Engineering; Automotive Engineering
ISSN
0924-090X
eISSN
1573-269X
D.O.I.
10.1007/s11071-017-3590-2
Publisher site
See Article on Publisher Site

Abstract

In this paper, based on a proposed MIMO hybrid dynamical system of underwater vehicle and its actuators, a robust composite adaptive fuzzy controller is presented. The proposed method employs voltage control effort, which is more efficient than the torque control strategy. Also it is very simple, efficient and robust. Based on adaptive fuzzy method and the prediction error between the system states and the serial–parallel estimation model, a composite adaptive fuzzy law that uses the modeling error as input is constructed to adaptively compensate the unknown uncertainties and disturbances of the system. In addition, the proposed scheme is able to estimate the lumped uncertainties with large amplitude and high frequency. Stability of the proposed method is shown based on Lyapunov approach. The proposed control scheme is not limited only to control of the underwater vehicles, but can be applied for a class of nonlinear MIMO systems with square and non-square control gains.

Journal

Nonlinear DynamicsSpringer Journals

Published: Jun 9, 2017

References

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