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http://dx.doi.org/10.5370/KIEE.2018.67.2.261

Tracking Controller for Underwater Gliders Based on T-S Fuzzy Models  

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.67, no.2, 2018 , pp. 261-269 More about this Journal
Abstract
In this paper, we propose a Takagi-Sugeno (T-S) fuzzy-model-based design for the tracking control of a class of nonlinear underwater glider. By using the partial linearization and the sector nonlinearity, the underwater glider with six degrees of freedom (6 DOF) is modelled by the T-S fuzzy model. The concerned tracking control problem with $H_{\infty}$ performance is converted into the stabilization one for the error dynamics between the given nonlinear underwater glider and the reference time-varying input. Sufficient conditions are derived for the asymptotic stabilizability of the error dynamics in the format of matrix inequality. Simulation results demonstrate the effectiveness of the proposed design methodology.
Keywords
Takagi-Sugeno (T-S) fuzzy model; Underwater glider; Lyapunov stability; Linearization; Tracking control;
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Times Cited By KSCI : 2  (Citation Analysis)
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