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http://dx.doi.org/10.5302/J.ICROS.2011.17.6.526

T-S Fuzzy Model-based Waypoints-Tracking Control of Underwater Vehicles  

Kim, Do-Wan (Hanbat National University)
Lee, Ho-Jae (Inha University)
Sur, Joo-No (Naval Academy)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.6, 2011 , pp. 526-530 More about this Journal
Abstract
This paper presents a new fuzzy model-based design approach for waypoints-tracking control of nonlinear underwater vehicles (UUVs) on a horizontal plane. The waypoints-tracking control problem is converted into the stabilization one for the error model between the given nonlinear UUV and the waypoints. By using the sector nonlinearity, the error model is modeled in Takagi-Sugeno's form. We then derive stabilization conditions for the error model in the format of linear matrix inequality. A numerical simulation is provided to illustrate the effectiveness of the proposed methodology.
Keywords
UUV (Underwater Vehicles); T-S (Takagi-Sugeno) fuzzy model; linear matrix inequality; waypoint-tracking control;
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