G. V. Lakhekar

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In this article, an adaptive fuzzy sliding mode with Proportional + Integral + Derivative (PID) sliding surface is employed for depth control of an autonomous underwater vehicle (AUV). The sliding surface defined the dynamic behavior of a system in sliding mode. Usually, PD-type sliding surface is selected as a hyperplane in the system state space. An(More)
In this paper we address the design and implementation of a fuzzy sliding mode control (FSMC) scheme for depth control of autonomous underwater vehicles (AUV's). The proposed scheme is compared with classical sliding mode control (SMC). At first we examine the response of sliding mode control based on ackermann formula for diving model. SMC is adequate for(More)
In this paper, decision making scheme in cognitive radio is proposed by using fuzzy neural system, due to which secondary users can utilizes the spectrum effectively with seamless communication between cognitive radio and primary users. The spectrum sensing performance is enhanced by using either multiple antennas or multistage spectrum sensing. Due to(More)
This paper addresses design of optimal fuzzy sliding mode control technique for minimization of reaching time along with robust stabilization of nonlinear singularly perturbed systems (NSPS). In singular perturbation method, the original system is decomposed into two reduced order subsystems such as slow and fast models, in which nonlinear uncertain terms(More)
A novel dynamic fuzzy sliding mode control (DF-SMC) algorithm is developed for heading angle control of autonomous underwater vehicles (AUV's) in horizontal plane. So far, the dynamics of AUV's are highly nonlinear, time varying and hydrodynamic coefficients of vehicle are difficult to be accurately estimated a prior, because of the variations of these(More)
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