DYNAMIC POSITIONING CONTROL OF UUV IN THE PRESENCE OF DISTURBANCES CAUSED BY WORKING MANIPULATORS

Gengshi Zhang, Jian Xu, Zheping Yan, Tao Chen, and Xue Du

Keywords

UUV, dynamic positioning, manipulator, fuzzy switching, sliding mode control, dynamic normalization factor

Abstract

Concentrating on the dynamic positioning of unmanned underwater vehicle in the presence of disturbances caused by working manipulators, a fuzzy switching sliding mode control method is adopted and enhanced by a dynamic normalization factor. Firstly, sliding mode control is used as the principal algorithm to guarantee the robustness and disturbance rejection ability. Secondly, a fuzzy inference engine is exploited to adjust the switching gains of the controller online, so that the switching gains are reduced and the control signals are smoothened without losing the robustness and the disturbance rejection ability. Finally, a dynamic normalization factor is introduced to normalize the input of the fuzzy inference engine to achieve a trade-off between sensitivity and stability. Simulation cases were performed along with comparisons with proportion– integration–differentiation controller and constant switching sliding mode controller. The results demonstrate the effectiveness and engineering realizability of the proposed approach.

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