%0 Journal Article
%@ 17466172
%A Mustafa Abro, G.E.
%A Zulkifli, S.A.B.M.
%A Khan, M.S.A.
%A Asirvadham, V.S.
%D 2021
%F scholars:15314
%I Inderscience Publishers
%J International Journal of Modelling, Identification and Control
%K Controllers; Fuzzy systems; MATLAB; Stabilization; Unmanned underwater vehicles, Fuzzy sliding-mode controllers; Fuzzy-based sliding mode controller; Fuzzy-based SMC; Processing time; Single dimension-based fuzzy sliding mode controller; Single dimension-based fuzzy SMC; Sliding mode controller; Sliding-mode control; SMC; Zeno phenomena, Sliding mode control
%N 4
%P 303-314
%R 10.1504/IJMIC.2021.123795
%T Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
%U https://khub.utp.edu.my/scholars/15314/
%V 39
%X 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.
%Z cited By 0