Design of Polynomial Fuzzy Controller for Depth Control of Autonomous Underwater Vehicles

被引：0
|
作者：
Zhao, Yuxin [1 ]
He, Yongxu [1 ]
Zhao, Ting [1 ]
Shi, Peng [2 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang, Peoples R China
[2] Univ Adelaide, Adelaide, SA 5005, Australia
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
Polynomial Fuzzy Systems; Autonomous Underwater Vehicles; Output Feedback Control; Sum-of-Squares Approach; SQUARES APPROACH; SYSTEMS; SUM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The motion control of autonomous underwater vehicle (AUV) system is a very challenging issue because of the high nonlinearity, strong coupling and time-varying property. A novel polynomial fuzzy model based (PFMB) output feedback controller is proposed in this paper, which enables the AUV to achieve the desired depth quickly and stably. Specifically, a polynomial fuzzy model of AUV is constructed by considering the interaction between velocities in each direction and ensuring the pitch angle within a safe range in practical applications. Then an output feedback control strategy, based on the Lyapunov stability theory and sum of squares (SOS) approach, is designed and verified. Simulations are provided to demonstrate the feasibility and effectiveness of the proposed controller.
引用
收藏
页码：4294 / 4299
页数：6
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