| Title |
Tracking Controller for Underwater Gliders Based on T-S Fuzzy Models |
| Authors |
이경학(Gyeoung Hak Lee) ; 김도완(Do Wan Kim) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.2.261 |
| Keywords |
Takagi-Sugeno (T-S) fuzzy model ; Underwater glider ; Lyapunov stability ; Linearization ; Tracking control. |
| 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 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. |