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Adaptive Interval Type-2 Fuzzy Fixed-time Control for Underwater Walking Robot with Error Constraints and Actuator Faults Using Prescribed Performance Terminal Sliding-mode Surfaces

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Abstract

Underwater walking robot (UWR) is a kind of autonomous underwater vehicles which can walk underwater. In this work, the fixed-time tracking control problem of UWR with external disturbances, error constraints, and actuator faults is investigated. An interval type-2 fuzzy neural network approximator is designed to tackle nonlinear uncertainties, and a novel prescribed performance terminal sliding-mode surface is proposed to handle error constraints. Furthermore, two fault-tolerant controllers are given, where one is nonsingular and the other has higher steady-state precision. According to Lyapunov theory, the proposed controllers can guarantee that system states will converge to the expected values in a fixed time. Simulation results demonstrate the effectiveness of the proposed control strategies.

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Acknowledgements

This work was supported by National Natural Science Foundation of China under Grant (Nos. U1713205 and 61803119) and the Research Fund from Science and Technology on Underwater Vehicle Laboratory under Grant (No. 6142215180208).

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Authors and Affiliations

  1. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China

    Hongde Qin, He Yang, Yanchao Sun & Yuang Zhang

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  1. Hongde Qin
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  3. Yanchao Sun
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Correspondence to Yanchao Sun.

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Qin, H., Yang, H., Sun, Y. et al. Adaptive Interval Type-2 Fuzzy Fixed-time Control for Underwater Walking Robot with Error Constraints and Actuator Faults Using Prescribed Performance Terminal Sliding-mode Surfaces. Int. J. Fuzzy Syst. 23, 1137–1149 (2021). https://doi.org/10.1007/s40815-020-00949-z

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