KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Design of Buoyancy and Moment Controllers of a Underwater Glider Based on a T-S Fuzzy Model
Authors	이경학(Lee, Gyeoung Hak) ; 김도완(Kim, Do Wan)
DOI	https://doi.org/10.5370/KIEE.2016.65.12.2037
Page	pp.2037-2045
ISSN	1975-8359
Keywords	Takagi-Sugeno (T-S) fuzzy model ; Underwater glider ; Lyapunov stability ; Linear matrix inequalities (LMI) ; Linearization
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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