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To decrease reliance on hydrodynamic parameters, an interval type-2 fuzzy logic system (IT2FLS) is utilized, which exhibits superior capabilities in handling high levels of uncertainties prevalent in the underwater environment as compared to a type-1 fuzzy logic system. However, the traditional fuzzy system structure encounters the \u201ccurse of dimensionality\u201d issue, which results in high computational complexity and imposes a significant burden on the limited computing resources underwater. The proposed AHIT2FC framework, based on a hierarchical structure, can substantially enhance computational speed while ensuring excellent control performance. Subsequently, Lyapunov\u2019s theory is adopted to guarantee that all the tracking errors in the closed-loop system are semiglobally uniformly bounded (SGUB). Finally, comparative simulation results demonstrate the effectiveness and superiority of the proposed AHIT2FC scheme.<\/jats:p>","DOI":"10.1177\/01423312241273788","type":"journal-article","created":{"date-parts":[[2024,10,14]],"date-time":"2024-10-14T05:54:39Z","timestamp":1728885279000},"page":"2259-2273","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Adaptive hierarchical interval type-2 fuzzy control for trajectory tracking of an underactuated AUV with uncertain dynamics"],"prefix":"10.1177","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5922-0639","authenticated-orcid":false,"given":"Yuxuan","family":"Wang","sequence":"first","affiliation":[{"name":"College of Energy Engineering, Institute of Process Equipment, Zhejiang University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yaochun","family":"Hou","sequence":"additional","affiliation":[{"name":"College of Energy Engineering, Institute of Process Equipment, Zhejiang University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mengjia","family":"Ye","sequence":"additional","affiliation":[{"name":"College of Energy Engineering, Institute of Process Equipment, Zhejiang University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhounian","family":"Lai","sequence":"additional","affiliation":[{"name":"Huzhou Institute, Zhejiang University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linlin","family":"Cao","sequence":"additional","affiliation":[{"name":"College of Energy Engineering, Institute of Process Equipment, Zhejiang University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dazhuan","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Energy Engineering, Institute of Process Equipment, Zhejiang University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2024,10,14]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2007.902731"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.48084\/etasr.6151"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/oca.3050"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.114109"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84882-730-1"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2551-x"},{"issue":"4","key":"e_1_3_2_8_1","first-page":"1","article-title":"Added mass computation for control of an open-frame remotely-operated vehicle: Application using WAMIT and MATLAB","volume":"22","author":"Eng YH","year":"2014","unstructured":"Eng YH, Chin CS, Lau MWS (2014) Added mass computation for control of an open-frame remotely-operated vehicle: Application using WAMIT and MATLAB. 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