Movement control in recovering UUV based on two-stage discrete T-S fuzzy model

DOI10.1155/2014/362787MaRDI QIDQ2321379zbMATH OpenOpenAlexWikidataFDO

Authors Zheping Yan, Bing Hao, Yibo Liu, Shuping Hou

Publication date 23 August 2019

Published in Discrete Dynamics in Nature and Society (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2014/362787

Mathematics Subject Classification ID

Fuzzy control/observation systems (93C42) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: A two-stage discrete T-S fuzzy model controller, which is formed by a motion controller and a dynamic controller connected in series, is presented to solve UUV (unmanned underwater vehicle) movement control problem for recovering. The motion controller is designed based on the uncertain T-S model and the concept of discrete fuzzy vector. The position error between UUV and moving platform as the input of the motion controller is converted into the speed commands of UUV at the next time. The dynamic controller design is based on the theory of fuzzy region model and a relaxed condition for Lyapunov stabilization function is derived in the form of linear matrix inequalities, which generate force and torque required to complete the recovery task. The feasibility and the efficiency of the proposed control scheme are illustrated through the simulations that UUV follows moving platform.

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Cites work

• Fuzzy and recurrent neural network motion control among dynamic obstacles for robot manipulators
• ROBUST ADAPTIVE CONTROL FOR ROBOT MANIPULATORS WITH UNMODELLED DYNAMICS
• Trajectory Tracking for Autonomous Vehicles: An Integrated Approach to Guidance and Control
• Zadeh-MacFarlane-Jamshidi theorems on decoupling of a fuzzy rule base

Cited in

(2)

• Study on application of T-S fuzzy observer in speed switching control of AUVs driven by states
• Adaptive terminal sliding mode NDO-based control of underactuated AUV in vertical plane

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