Control sin modelo validado en HILS en tiempo real para AUVs mediante control deslizante de modo terminal rápido no...

This paper proposes a novel adaptive fuzzy nonsingular fast terminal sliding mode control (AFNFTSMC) scheme integrated with time delay control (TDC) for autonomous underwater vehicles (AUVs). The proposed controller enhances robustness and tracking performance by combining the model-free characteristics of TDC with the fast convergence and singularity avoidance of AFNFTSMC. TDC is employed to estimate and compensate for nonlinear dynamics and external disturbances in real time, without requiring an accurate mathematical model. To address the chattering problem inherent in conventional sliding mode control, a fuzzy logic system is integrated, enabling smooth control inputs through continuous adaptation. Using Lyapunov theory, the system is proven to possess global stability and finite-time convergence properties. The effectiveness of the proposed method is validated through numerical simulations using the Delphin2 AUV model under external disturbance conditions.