Mr. Jiamao Pang Profile

Jiamao Pang

at Tianjin Maritime College

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Proceedings Article | 11 November 2022 Paper

Control strategy analysis of underwater robot based on LOS fuzzy control

Jiamao Pang

Proceedings Volume 12348, 123482H (2022) https://doi.org/10.1117/12.2641519

KEYWORDS: Control systems, Fuzzy logic, Switching, Water, Oceanography, Motion models, Control systems design, Analytical research, Adaptive control, Switches

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Autonomous Underwater Vehicle (AUV) is a complex system. As one of the research fields valued by the state, the control problem of AUV has become a research hotspot in the field. The system model of the vehicle is nonlinear, and the hydrodynamic parameters of the vehicle are uncertain. These problems add higher requirements to the control system design of AUV. In this paper, the control of autonomous underwater vehicle is studied based on the sliding mode control, fuzzy control and adaptive control methods. In depth control and attitude control, a fuzzy sliding mode controller is designed. Based on the design of horizontal path tracking fuzzy sliding mode controller, the sliding mode chattering and tracking accuracy problems in horizontal path tracking sliding mode controller are considered to ensure the performance index of sliding mode switching gain to get rid of external dependence and realize autonomous motion. The research on the control technology of autonomous underwater vehicle has far-reaching significance.

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