{'fraction_non_alphanumeric': 0.01588785046728972, 'fraction_numerical': 0.0, 'mean_word_length': 5.821656050955414, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Adaptive fuzzy reaching law tracking control of uncertain fully-actuated underwater vehicles with system uncertainties and unknown disturbances

In this paper, an adaptive fuzzy reaching law controller (AFRLC) for robust tracking control of uncertain full-actuated underwater vehicles (FAUV) in the presence of system uncertainties and unknown external disturbances is investigated, where a novel reaching law controller is constructed with a variable speed structure of system states such that the chattering phenomenon in traditional reaching law can be reduced. Moreover, a fuzzy uncertainty observer is employed to online observe the system uncertainties and it is incorporated into the sliding-mode reaching law. Theoretical analysis proves that the proposed AFRLC can ensure the stability of underwater vehicles tracking system and all signals in the closed-loop control system are uniformly ultimately bounded. In addition, the observation error can asymptotically converge to zero. Simulation results demonstrate the effectiveness of the proposed control scheme.