TY  - JOUR
IS  - 4
KW  - Controllers; Fuzzy systems; MATLAB; Stabilization; Unmanned underwater vehicles
KW  -  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
KW  -  Sliding mode control
TI  - Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
N2  - 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.
SN  - 17466172
EP  - 314
ID  - scholars15314
AV  - none
PB  - Inderscience Publishers
SP  - 303
Y1  - 2021///
A1  - Mustafa Abro, G.E.
A1  - Zulkifli, S.A.B.M.
A1  - Khan, M.S.A.
A1  - Asirvadham, V.S.
UR  - https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133757191&doi=10.1504%2fIJMIC.2021.123795&partnerID=40&md5=ca9895dd44d7a99ff4a0f2bddaac4886
N1  - cited By 0
JF  - International Journal of Modelling, Identification and Control
VL  - 39
ER  -