eprintid: 15314
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/01/53/14
datestamp: 2023-11-10 03:29:56
lastmod: 2023-11-10 03:29:56
status_changed: 2023-11-10 01:59:11
type: article
metadata_visibility: show
creators_name: Mustafa Abro, G.E.
creators_name: Zulkifli, S.A.B.M.
creators_name: Khan, M.S.A.
creators_name: Asirvadham, V.S.
title: Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle
ispublished: pub
keywords: 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
note: cited By 0
abstract: 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.
date: 2021
publisher: Inderscience Publishers
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133757191&doi=10.1504%2fIJMIC.2021.123795&partnerID=40&md5=ca9895dd44d7a99ff4a0f2bddaac4886
id_number: 10.1504/IJMIC.2021.123795
full_text_status: none
publication: International Journal of Modelling, Identification and Control
volume: 39
number: 4
pagerange: 303-314
refereed: TRUE
issn: 17466172
citation:   Mustafa Abro, G.E. and Zulkifli, S.A.B.M. and Khan, M.S.A. and Asirvadham, V.S.  (2021) Single dimension-based fuzzy sliding mode control design for the stabilisation of underactuated unmanned underwater vehicle.  International Journal of Modelling, Identification and Control, 39 (4).  pp. 303-314.  ISSN 17466172