A Fuzzy Logic-based Cascade Control without Actuator Saturation for the Unmanned Underwater Vehicle Trajectory Tracking

  title={A Fuzzy Logic-based Cascade Control without Actuator Saturation for the Unmanned Underwater Vehicle Trajectory Tracking},
  author={Da-feng Zhu and Simon X. Yang and Mohammad Biglarbegian},
  journal={Journal of Intelligent \& Robotic Systems},
An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic modeling part, a fuzzy logic-refined backstepping control is developed to achieve control velocities within acceptable ranges and errors of small fluctuations; on the basis of the velocities deducted by the improved kinematic control, the sliding mode control… 



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