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FRSMC DESIGN FOR THE STEERING CONTROL AND DIVING CONTROL OF UNDERWATER VEHICLES

A robust control method is proposed for the steering and diving control systems of autonomous underwater vehicles. Heading angle and heave position tracking are achieved. All the closed-loop poles in the sliding mode can be placed by using the sliding mode and root locus techniques. Fuzzy logic technique is further employed to effectively tune the control law. Parameter variation and external disturbance such as various vehicle speeds and the ocean current effect are overcome.