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http://dx.doi.org/10.5391/JKIIS.2011.21.3.302

Design of T-S Fuzzy-Model-Based Controller for Control of Autonomous Underwater Vehicles  

Jun, Sung-Woo (한밭대학교 전기공학과)
Kim, Do-Wan (한밭대학교 전기공학과)
Lee, Ho-Jae (인하대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.3, 2011 , pp. 302-306 More about this Journal
Abstract
This paper presents Takagi-Sugeno (T-S) fuzzy-model-based controller for depth control of autonomous underwater vehicles(AUVs). Through sector nonlinearity methodology, The nonlinear AUV is represented by T-S fuzzy model. By using the Lyapunov function, the design condition of controller is derived to guarantee the performance of depth control in the format of linear matrix inequality (LMI). An example is provided to illustrate the effectiveness of the proposed methodology.
Keywords
Takagi-Sugeno (T-S) fuzzy model; Lyapunov function; Linear matrix inequality (LMI); Depth control; Autonomous underwater vehicles;
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