Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

T-S Fuzzy Model-based Waypoints-Tracking Control of Underwater Vehicles

무인잠수정의 T-S 퍼지 모델기반 경로점 유도제어

  • 김도완 (한밭대학교 전기공학과) ;
  • 이호재 (인하대학교 전자공학부) ;
  • 서주노 (해군사관학교 기계조선공학과)
  • Received : 2011.02.20
  • Accepted : 2011.03.29
  • Published : 2011.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a new fuzzy model-based design approach for waypoints-tracking control of nonlinear underwater vehicles (UUVs) on a horizontal plane. The waypoints-tracking control problem is converted into the stabilization one for the error model between the given nonlinear UUV and the waypoints. By using the sector nonlinearity, the error model is modeled in Takagi-Sugeno's form. We then derive stabilization conditions for the error model in the format of linear matrix inequality. A numerical simulation is provided to illustrate the effectiveness of the proposed methodology.

Keywords

References

  1. T. I. Fossen, Guidance and Control of Ocean Vehicles. Wiley, New York, 1994.
  2. I. Kaminer, A. Pascoal, E. Hallberg, and C. Silvestre, "Trajectory tracking for autonomous vehicles: an integrated approach to guidance and control," Journal of Guidance, Control and Dynamics, vol. 21, no. 1, pp. 29-38, Jan. 1998. https://doi.org/10.2514/2.4229
  3. L. Lapierre, "Robust diving control of an AUV," Ocean Engineering, vol. 36, no. 1, pp. 92-104, Jan. 2009. https://doi.org/10.1016/j.oceaneng.2008.10.006
  4. F. Repoulias and E. Papadopoulos, "Planar trajectory planning and tracking control design for underactuated AUVs," Ocean Engineering, vol. 34, pp. 1650-1667, Aug. 2007. https://doi.org/10.1016/j.oceaneng.2006.11.007
  5. F. Y. Bi, Y. J. Wei, J. Z. Zhang, and W. Cao, "Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents," IET Control Theory and Applications, vol. 4, no. 11, pp. 2369-2380, Nov. 2010. https://doi.org/10.1049/iet-cta.2009.0265
  6. M. Livchitz, A. Abershitz, U. Soudak, and A. Kandel, "Development of an automated fuzzy-logic-based expert system for unmanned landing," Fuzzy Sets and Systems, vol. 93, no. 2, pp. 145-159, Jan. 1998. https://doi.org/10.1016/S0165-0114(96)00213-8
  7. D. Loebis, R. Sutton, J. Chudley, and W. Naeem, "Adaptive tuning of a Kalman filter via fuzzy logic for an intelligent AUV navigation system," Control Engineering Practice, vol. 12, no. 12, pp. 1531-1539, Dec. 2004. https://doi.org/10.1016/j.conengprac.2003.11.008
  8. W. J. Chang, W. Chang, and H. H. Liu, "Model-based fuzzy modeling and control for autonomous underwater vehicles in the horizontal plane," Journal of Marine Science and Technology, vol. 11, no. 3, pp. 155-163, Mar. 2003.
  9. K. Tanaka and H. O. Wang, Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach, New York: Wiley, 2001.
  10. D. W. Kim, H. J. Lee, and M. Tomizuka, "Fuzzy stabilization of nonlinear systems under sampled-data feedback: an exact discrete-time model approach," IEEE Transactions on Fuzzy Systems, vol. 18, no. 2, pp. 251-260, Apr. 2010. https://doi.org/10.1109/TFUZZ.2010.2040184
  11. D. W. Kim and H. J. Lee, "Stability connection between sampled-data fuzzy control systems with quantization and their approximate discrete-time model," Automatica, vol. 45, no. 6, pp. 1518-1523, Jun. 2009. https://doi.org/10.1016/j.automatica.2009.02.009
  12. D. W. Kim, J. B. Park, and Y. H. Joo, "Theoretical justification of approximate norm minimization method for intelligent digital redesign," Automatica, vol. 44, no. 3, pp. 851-856, Mar. 2008. https://doi.org/10.1016/j.automatica.2007.07.003
  13. D. W. Kim, J. B. Park, and Y. H. Joo, "Effective digital implementation of fuzzy control systems based on approximate discrete-time models," Automatica, vol. 43, no. 10, pp. 1671-1683, Oct. 2007. https://doi.org/10.1016/j.automatica.2007.01.025

Cited by

  1. A Study on an Integral State Feedback Controller for Way-point Tracking of an AUV vol.19, pp.8, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9011
  2. Field Experiments for Dynamic Characteristics and Motion Control of a Manta-type Autonomous Underwater Vehicle vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9020