Application and analysis of the fuzzy variable structure control strategy in UUV heading motions

DOI:	10.11809/bqzbgcxb2023.06.032
Keywords:	unmanned underwater vehicle (UUV); lateral motion; variable structure control; fuzzy variable structure control; disturbance resistance
Abstract:	When an unmanned underwater vehicle (UUV) is realizing an expected motion, the controlled object will be disturbed by different properties. In order to meet the accurate control of the current UUV underwater space motion, the navigation control system is required to have certain disturbance rejection performance on the premise of completing the basic performance of heading tracking. Based on the design of a variable structure control strategy, aiming at chattering in the nonlinear control, this paper proposes a fuzzified control strategy to improve the tracking effect. The UUV lateral motion variable structure controller and its fuzzification controller are designed through Lyapunov function to achieve fast and accurate UUV heading control. The course tracking control performance is verified by using simulink simulation, and the disturbance resistance of UUV in course motion is calculated and compared under the variable structure control strategy and under its fuzzified control strategy. The simulation result shows that the fuzzified variable structure control strategy in the UUV heading control has characteristics such as good stability and disturbance resistance, and can well restrain chattering at the same time.
Published:	2023-06-28
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