Title :
Design of T-S fuzzy-model-based controller for depth control of autonomous underwater vehicles with parametric uncertainties
Author :
Jun, Sung Woo ; Kim, Do Wan ; Lee, Ho Jae
Author_Institution :
Dept. of Electr. Eng., Hanbat Nat. Univ., Daejeon, South Korea
Abstract :
This paper presents a Takagi-Sugeno (T-S) fuzzy-model-based controller for the depth control of autonomous underwater vehicles (AUVs) in the presence of parametric uncertainties. Through the sector nonlinearity methodology, the nonlinear AUV systems with parametric uncertainties are represented by T-S fuzzy model. By using Lyapunov function, the sufficient conditions are derived to guarantee the robust performance of depth control in the format of linear matrix inequalities (LMIs). An example is provided to illustrate the effectiveness of the proposed methodology.
Keywords :
Lyapunov methods; autonomous underwater vehicles; fuzzy control; linear matrix inequalities; uncertain systems; LMI; Lyapunov function; T-S fuzzy-model-based controller; Takagi-Sugeno fuzzy-model; autonomous underwater vehicle; depth control; linear matrix inequalities; nonlinear AUV system; parametric uncertainty; sector nonlinearity methodology; Fuzzy systems; Linear matrix inequalities; Lyapunov methods; Oceans; Robustness; Uncertainty; Underwater vehicles; Autonomous underwater vehicles (AUVs); Depth control; Linear matrix inequality (LMI); Lyapunov function; Takagi-Sugeno (T-S) fuzzy model;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4577-0835-0
