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Mathematics
Volume 13
Issue 10
10.3390/math13101573
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability

by
Anh Tuan Vo
1,2,†,
Thanh Nguyen Truong
3,†,
Ic-Pyo Hong
1,*,† and
Hee-Jun Kang
3,†
1
Department of Smart Information and Technology Engineering, Kongju National University, Cheonan 31080, Republic of Korea
2
Department of Electrical and Electronic Engineering, The University of Danang-University of Technology and Education, Danang 550000, Vietnam
3
Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Republic of Korea
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Mathematics 2025, 13(10), 1573; https://doi.org/10.3390/math13101573 (registering DOI)
Submission received: 4 April 2025 / Revised: 4 May 2025 / Accepted: 9 May 2025 / Published: 10 May 2025
Versions Notes

Abstract

This paper presents a predefined-time control approach to address slow convergence and instability in the orbit control of remotely operated vehicles (ROVs). The proposed method introduces tunable predefined-time stability (PTS), allowing precise adjustment of the system’s stability time through configurable parameters, thereby enhancing controller adaptability. A control input system ensures PTS is developed, while a fuzzy logic system (FLS) is employed to estimate unstructured uncertainties and disturbances. This integration improves robustness, reduces chattering, and eliminates singularities, making the approach well suited for systems with incomplete or unknown model data. Comprehensive simulations validate the effectiveness of the proposed method, demonstrating superior performance compared to existing control strategies and highlighting its potential for advanced ROV applications.
Keywords: remotely operated vehicles; sliding mode control; predefined-time stability; fuzzy logic systems remotely operated vehicles; sliding mode control; predefined-time stability; fuzzy logic systems

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MDPI and ACS Style

Vo, A.T.; Truong, T.N.; Hong, I.-P.; Kang, H.-J. Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability. Mathematics 2025, 13, 1573. https://doi.org/10.3390/math13101573

AMA Style

Vo AT, Truong TN, Hong I-P, Kang H-J. Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability. Mathematics. 2025; 13(10):1573. https://doi.org/10.3390/math13101573

Chicago/Turabian Style

Vo, Anh Tuan, Thanh Nguyen Truong, Ic-Pyo Hong, and Hee-Jun Kang. 2025. "Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability" Mathematics 13, no. 10: 1573. https://doi.org/10.3390/math13101573

APA Style

Vo, A. T., Truong, T. N., Hong, I.-P., & Kang, H.-J. (2025). Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability. Mathematics, 13(10), 1573. https://doi.org/10.3390/math13101573

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