Adaptive Fuzzy Sliding Mode Controller for the Snorkel Underwater Vehicle

  • Eduardo Sebastián
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4095)


This paper address the kinematic variables control problem for the low-speed manoeuvring of a low cost and underactuated underwater vehicle. Control of underwater vehicles is not simple, mainly due to the non-linear and coupled character of plant equations, the lack of a precise model of vehicle dynamics and parameters, as well as the appearance of internal and external perturbations. The proposed methodology is an approach that makes use of a pioneering algorithm in underwater vehicles, based on the fusion of a robust or sliding mode controller and an adaptive fuzzy system, including the advantages of both systems. The main property of this methodology is that it relaxes the required knowledge of vehicle model, reducing the cost of its design.


Sliding Mode Underwater Vehicle Autonomous Underwater Vehicle Sliding Mode Controller Adaptation Capability 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Goheen, K., Jefferys, E.R.: On the adaptive control of remotely operated underwater vehicles. Journal Adaptive Control and signal processing 4, 287–297 (1990)CrossRefGoogle Scholar
  2. 2.
    Koivo, H.N.: A multivariable self-tuning controller. Automatica 16(4), 351–366 (1980)MATHCrossRefMathSciNetGoogle Scholar
  3. 3.
    Hsu, L., Costa, R.R., Lizaralde, F., Cunha, J.P.V.S.: Dynamic positioning of remotely operated underwater vehicles. IEEE Robot Automatic Magazine 7, 21–31 (2000)Google Scholar
  4. 4.
    Yoerger, D.R., Slotine, J.J.: Adaptive sliding control of an experimental underwater vehicle. In: IEEE International conference on Robotics and Automation, pp. 2746–2751 (1991)Google Scholar
  5. 5.
    Yoerger, D.R., Slotine, J.J.: Robust Trajectory Control of Underwater Vehicles. IEEE Journal of Oceanic Engineering 10, 462–470 (1985)CrossRefGoogle Scholar
  6. 6.
    Cristi, R., Papoulias, F.A., Healey, A.: Adaptive sliding control mode of autonomous underwater vehicles in the dive plane. IEEE Journal of Oceanic Engineering 15, 462–470 (1991)Google Scholar
  7. 7.
    Fossen, T.I., Paulsen, M.: Adaptive Feedback linearization Applied to Steering of Ships. In: Proc. of the IEEE Conference on Control Applications, pp. 1088–1093 (1991)Google Scholar
  8. 8.
    Slotine, J.J., Li, W.: Applied non-linear control. Prentice Hall, Englewood Cliffs (1991)Google Scholar
  9. 9.
    Fossen, T.I., Fjellstad, O.E.: Robust Adaptive Control of Underwater Vehicles: A Comparative Study. In: Proc. of the IFAC Workshop on Control Applications in Marine Systems, pp. 66–74 (1995)Google Scholar
  10. 10.
    Smallwood, D.A., Whitcomb, L.L.: Model-based Dynamic positioning of underwater Robotic Vehicles: Theory and Experiment. IEEE Journal of Oceanic Engineering 29 (January 2004)Google Scholar
  11. 11.
    Yuh, J.: Learning control for Underwater Robotics Vehicles. IEEE Control System Magazine 14, 39–46 (1994)CrossRefGoogle Scholar
  12. 12.
    De Bitetto, P.A.: Fuzzy logic for depth control for unmanned undersea vehicles. In: Proc. of Symposium of Autonomous Underwater Vehicle Technology (1994)Google Scholar
  13. 13.
    Wang, J., Get, S.S., Lee, T.H.: Adaptive Fuzzy Sliding Mode Control of a Class of Non-linear Systems. In: Proc. of the 3rd Asian Control Conference (2000)Google Scholar
  14. 14.
    Fossen, T.I.: Underwater vehicle dynamics. John Wiley & Sons Ltd., Baffins Lane (1994)Google Scholar
  15. 15.
    Wang, L.X.: Adaptive Fuzzy Systems and Control. Prentice Hall, Englewood Cliff (1994)Google Scholar
  16. 16.
    Sebastián, E.: Control y navegación semi-autónoma de un robot subacuático para la inspección de entornos desconocidos, doctoral diss., Universidad de Alcalá. Departamento de Electrónica (2005)Google Scholar
  17. 17.
    Manfredi, J.A., Sebastián, E., Gomez-Elvira, J., Martín, J., Torres, J.: Snorkel: vehículo subacuático para la exploración del río Tinto. In: Proc. of XXII Jornadas de Automática (2001)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Eduardo Sebastián
    • 1
  1. 1.Grupo de Robótica y Exploración PlanetariaCentro de Astrobiología (CAB)Torrejón de Ardoz. MadridSpain

Personalised recommendations