Design of expanded adaptive fuzzy sliding mode controller using FBFE for UFV depth control

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi|input multi|output (MIMO) system, it requires a robustness, it requires a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub|controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.