According to the characteristics ofAUVmovement, a fuzzy slidingmode controller was designed, inwhich fuzzy ruleswere adopted\nto estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV\nwas simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order\nwave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional\nslidingmode controller and fuzzy slidingmode controller. Simulation results show that the fuzzy slidingmode controller can meet\nthe requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode\ncontroller.
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