Piece-wise Linear Fuzzy Sliding Mode Controller for Deep Submergence Rescue Vehicle (DSRV)

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Piece-wise Linear Fuzzy Sliding Mode Controller for Deep Submergence Rescue Vehicle (DSRV)

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Ghulam E Mustafa Abro

The paper aims to present the design and performance of a single input fuzzy sliding mode controller (SIFSMC) to control the motion of deep submergence rescue vehicle (DSRV). The proposed controller uses the linear single dimension rule base where as the conventional fuzzy sliding mode controllers (CFSMC) uses the two-dimensional rule base. Moreover, the proposed controller does not merely depend on the DSRV exact mathematical model unlike that of the linear controllers. Using SIFSMC, the number of rules governs are also greatly reduced in comparison with the CFSMC, without compromising the overall performance. The robustness, equivalency and efficacy of proposed idea is illustrated through the simulation results using a marine system simulator in MATLAB/Simulink® environment. The main objective of the paper is to compare CFSMC and SIFSMC for UUV’s. Consequently, a comparative analysis of proposed SIFSMC is shown with the CFSMC for the same system of DSRV.