Design of adaptive fuzzy sliding mode controller using FBFE for UFV depth control

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness and a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an adaptive fuzzy sliding mode controller (AFSMC), which is based on the decomposition method using expert knowledge in the UFV depth control and utilizes a fuzzy basis function expansion (FBFE), is proposed. To verify the performance of the AFSMC, UFV depth control is performed. Simulation results show that the AFSMC solves all problems in the UFV depth control system online.