Browse > Article
http://dx.doi.org/10.5370/KIEE.2016.65.12.2037

Design of Buoyancy and Moment Controllers of a Underwater Glider Based on a T-S Fuzzy Model  

Lee, Gyeoung Hak (Dept. of Electrical Engineering, Hanbat National University)
Kim, Do Wan (Dept. of Electrical Engineering, Hanbat National University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.65, no.12, 2016 , pp. 2037-2045 More about this Journal
Abstract
This paper presents a fuzzy-model-based design approach to the buoyancy and moment controls of a class of nonlinear underwater glider. Through the linearization and the sector nonlinearity methodologies, the underwater glider dynamics is represented by a Takagi-Sugeno (T-S) fuzzy model. Sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop system in the format of linear matrix inequality (LMI). Simulation results demonstrate the effectiveness of the proposed buoyancy and moment controllers for the underwater glider.
Keywords
Takagi-Sugeno (T-S) fuzzy model; Underwater glider; Lyapunov stability; Linear matrix inequalities (LMI); Linearization;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 B. T. Curtin, M. D. Crimmins, J. Curcio, M. Benjamin, C. Roper, "Autonomous underwater vehicles: trends and transformations," Marine Technology Society Journal, vol. 39, no.3 pp. 65-75, 2005.
2 S. C. Jee. J, H. Moon, and H. J. Lee, "Stabilization of underwater glider by torque control: feedback linearization approach,"The Institute of Electronics Engineers of Korea Conference, pp. 1358-1360, 2014.
3 S. C. Jee, H. J. Lee, M. H. Kim, and J. H. Moon, "Stabilization of underwater glider by buoyancy and moment control : feedback linearization approach," Journal of Ocean Engineering and Technology, vol. 28 no. 6, pp. 546-551, 2014.   DOI
4 J. H. Moon, S. C. Jee, and H. J. Lee, "Stabilization of underwater glider by observer-based buoyancy and moment control," Information and Control Symposium, pp. 224-227, 2014.
5 J. H. Moon, H. J. Lee, "Underwater glider model-based sampled-data controller design and stability analysis," The Korean Society of Mechanical Engineers conference, pp. 2859-2862, 2015.
6 Bhatta, Pradeep, and Naomi Ehrich Leonard, "Nonlinear gliding stability and control for vehicles with hydronamic forcing," Automatica, vol. 44 no. 5, pp. 1240-1250, 2008.   DOI
7 F. Zhang, X. Tan, and HK. Khalil, "Passivity-based controller design for stablization of underwater glider." American Control Conference(ACC), IEEE, pp. 5408-5413, 2012.
8 M. J. Kim, M. G. Joo, "Depth control of an underwater glider by using PID controller," Journal of Korean Institute of Information Technology, vol. 13 no. 4 pp. 1-7, 2015.   DOI
9 Y. Yang, Y. Wang, Z. Ma, S. Wang. "A thermal engine for underwater glider driven by ocean thermal energy." Applied Thermal Engineering pp. 455-464, 2016.
10 I. Khalid, and M. R. Arshad. "Modeling and motion control of a hybrid-driven underwater glider." Indian Journal of Geo-Marine Sciences, vol. 42 no.8 pp. 971-979, 2013
11 I. Khalid, M. R. Arshad, and S. Ishak, "A hybrid-driven underwater glider model, hydrodynamics estimation, and an analysis of the motion control." Ocean Engineering vol. 81 pp. 111-129, 2014.   DOI
12 P. Bhatta, Nonlinear Stability and Control of Gliding Vehicles, Ph.D. thesis, Princeton University, 2006.
13 S. W. Jun, D. W. Kim, H. J. Lee, "Design of T-S Fuzzy-Model-Based Controller for Control of Autonomous Underwater Vehicles," Korean Institute of Intelligent Systems Transactions, vol. 21 no. 3, pp. 302-306, 2011.   DOI
14 K. Tanaka, and H. O. Wang, Fuzzy control systems design and analysis: a linear matrix inequality approach, John Wiley & Sons, 2004.
15 H. K. Khalil, Nonlinear Control,. Upper Saddle River, NJ:Prentice, 1996.
16 D. W. Kim, "Tracking of REMUS autonomous underwater vehicles with actuator saturations," Automatica, vol. 58, pp. 15-21, 2015.   DOI
17 D. W. Kim, H. J. Lee, and M. Tomizuka, "Fuzzy stabilization of nonlinear systems under sampled-data feedback: an exact discrete-time model approach," IEEE Trans. Fuzzy Systs., pp. 251-260, vol. 18, no. 2, 2010.