Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints

Sun, Yanchao and Chen, Xinyan and Wang, Ziwei and Qin, Hongde and Jing, Ruijie (2021) Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints. International Journal of Systems Science. ISSN 0020-7721

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Abstract

In this paper, a trajectory tracking control strategy is proposed for multi-legged underwater robot in the presence of input saturation and full-state constraints. An anti-windup compensator is introduced to solve the input saturation problem, which can compensate for the saturation difference directly. Besides, the state constrains are addressed by a new state saturation function and the external unknown disturbances are solved by interval type-2 fuzzy neural network approximator. The dynamic surface control method combines with backstepping method is utilised to construct Lyapunov function. The control law and signals of the closed-loop system can be guaranteed to achieve semi-global uniform boundedness. Numerical simulations are presented to show the effectiveness of the proposed algorithm.

Item Type:
Journal Article
Journal or Publication Title:
International Journal of Systems Science
Uncontrolled Keywords:
/dk/atira/pure/subjectarea/asjc/2600/2614
Subjects:
ID Code:
177009
Deposited By:
Deposited On:
18 Oct 2022 12:25
Refereed?:
Yes
Published?:
Published
Last Modified:
22 Nov 2022 11:54