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

Author

Listed:
  • Yanchao Sun
  • Xinyan Chen
  • Ziwei Wang
  • Hongde Qin
  • Ruijie Jing

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.

Suggested Citation

  • Yanchao Sun & Xinyan Chen & Ziwei Wang & Hongde Qin & Ruijie Jing, 2023. "Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints," International Journal of Systems Science, Taylor & Francis Journals, vol. 54(15), pages 2859-2874, November.
    • Handle: RePEc:taf:tsysxx:v:54:y:2023:i:15:p:2859-2874
    DOI: 10.1080/00207721.2020.1869346
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