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

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

Allocations and Robust ℋ∞ Fuzzy Control for Waypoints Tracking of Large Displacement Unmanned Underwater Vehicles

대형급 무인잠수정의 임무의 중요성에 따른 목표 경로점 선정 및 제어를 위한 T-S 퍼지모델 기반 강인 ℋ∞ 제어기 설계

  • Received : 2016.12.24
  • Accepted : 2017.01.03
  • Published : 2017.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

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.

Keywords

Acknowledgement

Supported by : 한국연구재단

References

  1. T. Prestero, "Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle," Massachusetts Inst. Technol./Woods Hole Ocean. Inst., 2001.
  2. S. Miyamaoto, T. Aoki, T. Maeda, K. Hirokawa, T. Ichikawa, T. Saitou, H. Kobayashi, E. Kobayashi, and S. Iwasaki, "Maneuvering control system design for autonomous underwater vehicle," MTS/IEEE Oceans 2001 Conf. proc., vol. 1, pp. 482-489, 2001.
  3. S. K. Park, P. Y. Lee, S. W. Park, S. T. Kwon, H. S. Jung, and M. S. Park, "Design and field test of heading and depth control based on PD control of Torpedo type AUV, HW200," Journal of Institute of Control, Robotics and Systems, vol. 21, no. 10, pp. 951-957, 2015. https://doi.org/10.5302/J.ICROS.2015.15.0093
  4. S. T. Kwon, W. K. Baek, I. P. Kang, H. S. Choi, and M. G. Joo, "A study on way-point tracking of AUV using state feedback," Journal of Institute of Control, Robotics and Systems, vol. 17, no. 12, pp. 1266-1272, 2011. https://doi.org/10.5302/J.ICROS.2011.17.12.1266
  5. S. B. Bae, D. H. Shin, S. H. Park, and M. G. Joo, "A Study on an integral state feedback controller for way-point tracking of an AUV," Journal of Institute of Control, Robotics and Systems, vol. 19, no. 8, pp. 661-666, 2013. https://doi.org/10.5302/J.ICROS.2013.13.9011
  6. L. Lapierre, "Robust diving control of an AUV," Ocean Eng., vol. 36, no. 1, pp. 92-104, 2009. https://doi.org/10.1016/j.oceaneng.2008.10.006
  7. H. Joe, M. Kim, and S. cheol Yu, "Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances," Nonlinear Dyn., vol. 78, no. 1, pp. 183-196, 2014. https://doi.org/10.1007/s11071-014-1431-0
  8. J.-H. Li and P.-M. Lee, "Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle," Ocean Eng., vol. 32, no. 17, pp. 2165-2181, 2005. https://doi.org/10.1016/j.oceaneng.2005.02.012
  9. B. K. Sahu and B. Subudhi, "Adaptive tracking control of an autonomous underwater vehicle," Int. J. Autom. Comput., vol. 11, no. 3, pp. 299-307, 2014. https://doi.org/10.1007/s11633-014-0792-7
  10. K. Tanaka and H. O. Wang, Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach. New York: Wiley, 2001.
  11. D. W. Kim, H. J. Lee, and J. N. Sur, "T-S Fuzzy Model-based Waypoints-Tracking Control of Underwater vehicle", Journal of Institute of Control, Robotics and Systems, vol. 17, no. 6, pp. 526-530, 2011. https://doi.org/10.5302/J.ICROS.2011.17.6.526
  12. C.-S. Tseng, B.-S. Chen, and H.-J. Uang, "Fuzzy tracking control design for nonlinear dynamic systems via T-S fuzzy model," IEEE Trans. Fuzzy Syst., vol. 9, no. 3, pp. 381-392, 2001. https://doi.org/10.1109/91.928735
  13. J. Guo, F.-C. Chiu, and C.-C. Huang, "Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle," Ocean Eng., vol. 30, no. 16, pp. 2137-2155, 2003. https://doi.org/10.1016/S0029-8018(03)00048-9
  14. J. Guo, "A waypoint-tracking controller for a biomimetic autonomous underwater vehicle," Ocean Eng., vol. 33, no. 17, pp. 2369-2380, 2006. https://doi.org/10.1016/j.oceaneng.2005.11.012