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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/Magazine › Journal article › peer-review

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Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints. / Sun, Yanchao; Chen, Xinyan; Wang, Ziwei et al.
In: International Journal of Systems Science , Vol. 54, No. 15, 30.09.2023.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Sun, Y, Chen, X, Wang, Z, Qin, H & Jing, R 2023, 'Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints', International Journal of Systems Science , vol. 54, no. 15. https://doi.org/10.1080/00207721.2020.1869346

APA

Sun, Y., Chen, X., Wang, Z., Qin, H., & Jing, R. (2023). Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints. International Journal of Systems Science , 54(15). https://doi.org/10.1080/00207721.2020.1869346

Vancouver

Sun Y, Chen X, Wang Z, Qin H, Jing R. Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints. International Journal of Systems Science . 2023 Sept 30;54(15). Epub 2021 Jan 24. doi: 10.1080/00207721.2020.1869346

Author

Sun, Yanchao ; Chen, Xinyan ; Wang, Ziwei et al. / Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints. In: International Journal of Systems Science . 2023 ; Vol. 54, No. 15.

Bibtex

@article{3cdd1a3e72a9471c813198f621de5603,
title = "Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints",
abstract = "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.",
author = "Yanchao Sun and Xinyan Chen and Ziwei Wang and Hongde Qin and Ruijie Jing",
year = "2023",
month = sep,
day = "30",
doi = "10.1080/00207721.2020.1869346",
language = "English",
volume = "54",
journal = "International Journal of Systems Science ",
issn = "0020-7721",
publisher = "Taylor and Francis Ltd.",
number = "15",

}

RIS

TY - JOUR

T1 - Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints

AU - Sun, Yanchao

AU - Chen, Xinyan

AU - Wang, Ziwei

AU - Qin, Hongde

AU - Jing, Ruijie

PY - 2023/9/30

Y1 - 2023/9/30

N2 - 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.

AB - 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.

U2 - 10.1080/00207721.2020.1869346

DO - 10.1080/00207721.2020.1869346

M3 - Journal article

VL - 54

JO - International Journal of Systems Science

JF - International Journal of Systems Science

SN - 0020-7721

IS - 15

ER -