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The Korean Institute of Electrical Engineers (대한전기학회)
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Tracking Controller for Underwater Gliders Based on T-S Fuzzy Models

T-S 퍼지 모델 기반 수중글라이더를 위한 추종 제어기

  • Lee, Gyeoung Hak (Dept. of Electrical Engineering, Hanbat National University) ;
  • Kim, Do Wan (Dept. of Electrical Engineering, Hanbat National University)
  • Received : 2017.12.30
  • Accepted : 2018.01.14
  • Published : 2018.02.01
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Abstract

In this paper, we propose a Takagi-Sugeno (T-S) fuzzy-model-based design for the tracking control of a class of nonlinear underwater glider. By using the partial linearization and the sector nonlinearity, the underwater glider with six degrees of freedom (6 DOF) is modelled by the T-S fuzzy model. The concerned tracking control problem with $H_{\infty}$ performance is converted into the stabilization one for the error dynamics between the given nonlinear underwater glider and the reference time-varying input. Sufficient conditions are derived for the asymptotic stabilizability of the error dynamics in the format of matrix inequality. Simulation results demonstrate the effectiveness of the proposed design methodology.

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References

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