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Mathematical Problems in Engineering
Volume 2014, Article ID 631396, 8 pages
Research Article

Study on Application of T-S Fuzzy Observer in Speed Switching Control of AUVs Driven by States

1College of Automation, Harbin Engineering University, Harbin 150001, China
2China Ship Research and Development Academy, Beijing 100192, China

Received 31 January 2014; Accepted 31 March 2014; Published 12 May 2014

Academic Editor: Michael Lütjen

Copyright © 2014 Xun Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Considering the inherent strongly nonlinear and coupling performance of autonomous underwater vehicles (AUVs), the speed switching control method for AUV driven by states is presented. By using T-S fuzzy observer to estimate the states of AUV, the speed control strategies in lever plane, vertical plane, and speed kept are established, respectively. Then the adaptive switching law is introduced to switch the speed control strategies designed in real time. In the simulation, acoustic Doppler current profile/side scan sonar (ADCP/SSS) observation case is employed to demonstrate the effectiveness of the proposed method. The results show that the efficiency of AUV was improved, the trajectory tracking error was reduced, and the steady-state ability was enhanced.