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

Yanchao Sun, Xinyan Chen, Ziwei Wang, Hongde Qin and Ruijie Jing

International Journal of Systems Science, 2023, vol. 54, issue 15, 2859-2874

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.

Date: 2023
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DOI: 10.1080/00207721.2020.1869346

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