SCS is designed by combining Backstepping and Sliding Mode Control considering model error and external interference, using adaptive law to identify uncertainty online. After, the method using adaptive fuzzy system to identify external interference and model of underwater vehicle is come up with to deal with adaptive law can only identify the slow time-varying uncertainties and unknown of miniature underwater vehicle model. Finally, path tracking control system is designed based on adaptive fuzzy backstepping sliding mode control method. Simulation results demonstrate that control systems have effectiveness and robustness. Key words:miniature underwater vehicle; underactuated system; adaptivebackstepping sliding mode control; path tracking
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