Design of T-S fuzzy-model-based controller for depth control of autonomous underwater vehicles with parametric uncertainties

摘要

This paper presents a Takagi-Sugeno (T-S) fuzzy-model-based controller for the depth control of autonomous underwater vehicles (AUVs) in the presence of parametric uncertainties. Through the sector nonlinearity methodology, the nonlinear AUV systems with parametric uncertainties are represented by T-S fuzzy model. By using Lyapunov function, the sufficient conditions are derived to guarantee the robust performance of depth control in the format of linear matrix inequalities (LMIs). An example is provided to illustrate the effectiveness of the proposed methodology.