| Title |
Allocations and Robust ℋ∞ Fuzzy Control for Waypoints Tracking of Large Displacement Unmanned Underwater Vehicles |
| Authors |
강형빈(Kang, Hyoung Bin) ; 이호재(Lee, Ho Jae) ; 김성훈(Kim, Sung Hoon) ; 박호규(Park, Ho Gyu) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.2.402 |
| Keywords |
Large Displacement Unmanned Underwater Vehicles (LDUUVs) ; Waypoints tracking ; Takagi-Sugeno fuzzy model ; Robust { mathfrak{H}}_∞ control |
| Abstract |
This paper deals with a robust { mathfrak{H}}_∞ 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. |