Adaptive fuzzy sliding mode controller for the snorkel underwater vehicle

  title={Adaptive fuzzy sliding mode controller for the snorkel underwater vehicle},
  author={Eduardo Sebasti{\'a}n and Miguel {\'A}ngel Sotelo},
This paper describes a control system for the kinematic variables of an underwater vehicle. Control of underwater vehicles is not simple, mainlys due to the nonlinear, coupled and unknown character of system equations and dynamics. The proposed methodology makes use of a pioneering algorithm implemented for the first time in an underwater vehicle, and it is based on the fusion of a sliding mode controller and an adaptive fuzzy system, including advantages of both systems and relaxing the… CONTINUE READING
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