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

Authors: Ghulam E. Mustafa Abro; Saiful Azrin Bin Mohd Zulkifli; Muhammad Sadiq Ali Khan; Vijanth Sagayan Asirvadham

Addresses: Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, Seri Iskandar 32610, Perak, Malaysia ' Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, Seri Iskandar 32610, Perak, Malaysia ' Department of Computer Science, University of Karachi, 75270, Pakistan ' Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, Seri Iskandar 32610, Malaysia

Abstract: 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.

Keywords: fuzzy-based SMC; F-SMC; processing time; sliding mode control; SMC; single dimension-based fuzzy SMC; SDF-SMC; unmanned underwater vehicle; UUV; Zeno phenomena.

DOI: 10.1504/IJMIC.2021.123795

International Journal of Modelling, Identification and Control, 2021 Vol.39 No.4, pp.303 - 314

Received: 21 Jan 2021
Accepted: 09 Mar 2021
Published online: 04 Jul 2022 *

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