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http://dx.doi.org/10.5391/JKIIS.2012.22.4.441

Design of T-S Fuzzy Model Based H∞ Controller for Diving Control of AUV: An LMI Approach  

Jun, Sung-Woo (한밭대학교 전기공학과)
Kim, Do-Wan (한밭대학교 전기공학과)
Lee, Ho-Jae (인하대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.4, 2012 , pp. 441-447 More about this Journal
Abstract
This paper presents a design technique of a Takagi-Sugeno (T-S) fuzzy-model-based $H_{\infty}$ controller for autonomous underwater vehicles (AUVs). The design procedure aims to render the stabilizing controller which satisfies performance of the diving control for AUVs in the presence of the disturbance. A nonlinear AUV is modeled by the T-S fuzzy system through the sector nonlinearity. By using Lyapunov function, the sufficient conditions are derived to guarantee the performance of robust depth control in the format of linear matrix inequality (LMI). To succeed for diving control of AUV, we add the constraints on the diving and pitch angles in the LMI conditions. Through the simulation, we confirm the effectiveness of the proposed methodology.
Keywords
Takagi-Sugeno (T-S) fuzzy model; Lyapunov function; linear matrix inequality (LMI); depth control; autonomous underwater vehicles (AUVs);
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Times Cited By KSCI : 2  (Citation Analysis)
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