• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.2
• /
• pp.402-408
• /
• 2017

This paper deals with a robust ${\mathfrak{H}}_{\infty}$ controller design problem for waypoints tracking of large displacement unmanned underwater vehicles (LDUUVs) in Takagi-Sugeno fuzzy form. The LDUUV model uses a rudder to control its horizontal motion. We determine the order of waypoints based on their priorities and consider only surge force. A fuzzy controller in state-feedback form is taken and its design condition of is represented in terms of linear matrix inequalities. A numerical simulation is included to show the effectiveness of the theoretical development.