A direct adaptive fuzzy SMC-a case study of ROV

Abstract

Fuzzy logic control (FLC) has been applied successfully to many practical problems. Nevertheless, it is viewed with some scepticism, since it does not share the formality of conventional control techniques. It is the purpose of this paper to build on the framework of adaptive fuzzy systems developed by Wang Lin-Xin (1992, 1994), by combining it with sliding mode control (SMC), thereby eliminating some of the limitations of SMC and adaptive fuzzy systems by incorporating the merits of both techniques. Lyapunov's direct method is used to show that an approximate controller can result in a closed-loop system which is stable. The technique developed is applied to a MIMO ROV.<>