The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Design of Buoyancy and Moment Controllers of a Underwater Glider Based on a T-S Fuzzy Model

T-S 퍼지 모델 기반 수중글라이더의 부력 및 모멘트 제어기 설계

  • Lee, Gyeoung Hak (Dept. of Electrical Engineering, Hanbat National University) ;
  • Kim, Do Wan (Dept. of Electrical Engineering, Hanbat National University)
  • Received : 2016.09.27
  • Accepted : 2016.11.15
  • Published : 2016.12.01
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Abstract

This paper presents a fuzzy-model-based design approach to the buoyancy and moment controls of a class of nonlinear underwater glider. Through the linearization and the sector nonlinearity methodologies, the underwater glider dynamics is represented by a Takagi-Sugeno (T-S) fuzzy model. Sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop system in the format of linear matrix inequality (LMI). Simulation results demonstrate the effectiveness of the proposed buoyancy and moment controllers for the underwater glider.

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References

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