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Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints

Research output: Contribution to Journal/MagazineJournal articlepeer-review

  • Yanchao Sun
  • Xinyan Chen
  • Ziwei Wang
  • Hongde Qin
  • Ruijie Jing
<mark>Journal publication date</mark>30/09/2023
<mark>Journal</mark>International Journal of Systems Science
Issue number15
Number of pages16
Publication StatusPublished
Early online date24/01/21
<mark>Original language</mark>English


In this paper, a trajectory tracking control strategy is proposed for multi-legged underwater robot in the presence of input saturation and full-state constraints. An anti-windup compensator is introduced to solve the input saturation problem, which can compensate for the saturation difference directly. Besides, the state constrains are addressed by a new state saturation function and the external unknown disturbances are solved by interval type-2 fuzzy neural network approximator. The dynamic surface control method combines with backstepping method is utilised to construct Lyapunov function. The control law and signals of the closed-loop system can be guaranteed to achieve semi-global uniform boundedness. Numerical simulations are presented to show the effectiveness of the proposed algorithm.