Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle

The paper provides the comparative analysis of traditional fuzzy-based sliding mode controller (F-SMC) and single dimension-based fuzzy sliding mode controller (SDF-SMC) for the stabilisation of an underactuated unmanned underwater vehicle (UUV). It has been observed that the sliding mode control de...

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Main Authors: Mustafa Abro, G.E., Zulkifli, S.A.B.M., Khan, M.S.A., Asirvadham, V.S.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.33418 /
Published: Inderscience Publishers 2021
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133757191&doi=10.1504%2fIJMIC.2021.123795&partnerID=40&md5=ca9895dd44d7a99ff4a0f2bddaac4886
http://eprints.utp.edu.my/33418/
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spelling utp-eprints.334182022-07-26T09:39:08Z Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle Mustafa Abro, G.E. Zulkifli, S.A.B.M. Khan, M.S.A. Asirvadham, V.S. The paper provides the comparative analysis of traditional fuzzy-based sliding mode controller (F-SMC) and single dimension-based fuzzy sliding mode controller (SDF-SMC) for the stabilisation of an underactuated unmanned underwater vehicle (UUV). It has been observed that the sliding mode control design stabilises the underactuated mechatronic system very smartly, but it causes a high number of oscillations known as Zeno phenomenon. This effect can easily be eliminated using fuzzy version of sliding mode controller (F-SMC) but at the same moment it takes high processing time due to fuzzification, inference and then defuzzification steps. The major reason for consuming such a huge process time is the two-dimensional rule base table. Thus, this research work will turn that two-dimensional table of rules into single dimension and propose single input-based fuzzy sliding mode controller (SDF-SMC) generating crisp input. In addition, this paper presents the comparative simulation work between conventional fuzzy-based SMC (F-SMC) and single dimension-based fuzzy SMC (SDF-SMC), carried on MATLAB/Simulink software to reduce the process time. In order to validate the effectiveness of proposed control scheme, the SDF-SMC algorithm is also implemented using proper hardware and experimental setup. Copyright © 2021 Inderscience Enterprises Ltd. Inderscience Publishers 2021 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133757191&doi=10.1504%2fIJMIC.2021.123795&partnerID=40&md5=ca9895dd44d7a99ff4a0f2bddaac4886 Mustafa Abro, G.E. and Zulkifli, S.A.B.M. and Khan, M.S.A. and Asirvadham, V.S. (2021) Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle. International Journal of Modelling, Identification and Control, 39 (4). pp. 303-314. http://eprints.utp.edu.my/33418/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description The paper provides the comparative analysis of traditional fuzzy-based sliding mode controller (F-SMC) and single dimension-based fuzzy sliding mode controller (SDF-SMC) for the stabilisation of an underactuated unmanned underwater vehicle (UUV). It has been observed that the sliding mode control design stabilises the underactuated mechatronic system very smartly, but it causes a high number of oscillations known as Zeno phenomenon. This effect can easily be eliminated using fuzzy version of sliding mode controller (F-SMC) but at the same moment it takes high processing time due to fuzzification, inference and then defuzzification steps. The major reason for consuming such a huge process time is the two-dimensional rule base table. Thus, this research work will turn that two-dimensional table of rules into single dimension and propose single input-based fuzzy sliding mode controller (SDF-SMC) generating crisp input. In addition, this paper presents the comparative simulation work between conventional fuzzy-based SMC (F-SMC) and single dimension-based fuzzy SMC (SDF-SMC), carried on MATLAB/Simulink software to reduce the process time. In order to validate the effectiveness of proposed control scheme, the SDF-SMC algorithm is also implemented using proper hardware and experimental setup. Copyright © 2021 Inderscience Enterprises Ltd.
format Article
author Mustafa Abro, G.E.
Zulkifli, S.A.B.M.
Khan, M.S.A.
Asirvadham, V.S.
spellingShingle Mustafa Abro, G.E.
Zulkifli, S.A.B.M.
Khan, M.S.A.
Asirvadham, V.S.
Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
author_sort Mustafa Abro, G.E.
title Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
title_short Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
title_full Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
title_fullStr Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
title_full_unstemmed Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
title_sort single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
publisher Inderscience Publishers
publishDate 2021
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133757191&doi=10.1504%2fIJMIC.2021.123795&partnerID=40&md5=ca9895dd44d7a99ff4a0f2bddaac4886
http://eprints.utp.edu.my/33418/
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score 11.62408

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