ADAPTIVE FUZZY HIERARCHICAL SLIDING MODE CONTROLLER FOR AUV LACKING COMPLIANT STRUCTURE

Abstract

The recent international marine vehicles that have been published are
mostly three-level floating ship models: Motion in the 0x,0y direction and the
ship's navigation angle. Current, researches on Autonomous Underwater
Vehicles are very modest, with the addition of a motion component in the 0z
direction and a navigation angle with the intention of making the device capable
of diving. The goal of this study is to develop a control algorithm for AUV diving
equipment lacking a MIMO (Multiple Input Multiple Output) actuator using the
Adaptive Fuzzy Hierarchical Sliding Mode Controller (AFHSMC) technique.
Because this system is nonlinear, functionally uncertain, and heavily influenced
by noise from the environment, scientists always face difficulties in developing
control and quality improvement strategies. That's also why the authors of this
paper chose to conduct their own research.