Disturbance Observer-Based Fuzzy Adapted S-Surface Controller for Spatial Trajectory Tracking of Autonomous Underwater Vehicle.
Girish Vithalrao LakhekarLaxman M. WaghmareRupam Gupta RoyPublished in: IEEE Trans. Intell. Veh. (2019)
Keyphrases
- trajectory tracking
- sliding mode
- autonomous underwater vehicle
- variable structure
- closed loop
- control system
- control law
- stability analysis
- bi directional
- neural network controller
- iterative learning control
- dynamic model
- fuzzy controller
- control method
- sliding mode control
- control strategy
- iterative learning
- control scheme
- physical constraints
- visual servoing
- desired trajectory
- fuzzy logic
- robot manipulators
- adaptive control
- control algorithm
- adaptive fuzzy
- fuzzy sets
- pid controller
- membership functions
- fuzzy rules
- fuzzy systems
- fuzzy control
- control theory
- fuzzy inference system
- fuzzy logic controller
- nonlinear systems
- vision system
- real time
- fuzzy clustering
- optimal control
- tracking error
- fuzzy numbers
- controller design