Abstract
This paper presents a new direct discrete-time design methodology of a robust sampled-data fuzzy controller for a class of nonlinear system with parametric uncertainties that is exactly represented by Takagi-Sugeno (T-S) fuzzy model. Based on an exact discrete-time fuzzy model in an integral form, sufficient conditions for a robust asymptotic stabilization of the nonlinear system are investigated in the discrete-time Lyapunov sense. It is shown that the resulting sampled-data controller indeed robustly asymptotically stabilizes the nonlinear plant. To illustrate the effectiveness of the proposed methodology, an example, a sampled-data depth control of autonomous underwater vehicles (AUVs) is provided.
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This research was partially supported by LIG NEX1, Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2012-0003290), and the Unmanned Technology Research Center (UV-22).
Do Wan Kim received his B.S., M.S., and Ph.D. degrees from the Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea, in 2002, 2004, and 2007, respectively. He was a Visiting Scholar with the Department of Mechanical Engineering, University of California, Berkeley, in 2008, and a Research Professor with the Department of Electrical and Electronic Engineering, Yonsei University, in 2009. Since 2010, he has been with the Department of Electrical Engineering, Hanbat National University, Daejeon, Korea, where he is an Assistant Professor. His current research interests include analysis and synthesis of nonlinear sampled-data control systems.
Ho Jae Lee received his B.S., M.S., and Ph.D. degrees from the Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea, in 1998, 2000, and 2004, respectively. In 2005, he was a Visiting Assistant Professor with the Department of Electrical and Computer Engineering, University of Houston, Houston, TX. Since 2006, he has been with the School of Electronic Engineering, Inha University, Incheon, Korea, where he is currently an Associate Professor. His research interests include fuzzy control systems, hybrid dynamical systems, large-scale systems, and digital redesign.
Moon Hwan Kim received his B.S. and M.S. degrees in Electric and Electronic Engineering from Yonsei University, Korea, in 2004 and 2006, respectively. From 2006 to 2009, he served as a Fulltime Instructor in Naval Academy of South Korea. Since 2009 he has been a senior research engineer in LIG Nex1. His research interests include intelligent system, system modeling and UUV system.
Sang-young Lee received his B.S. & M.S. in Physics from Sogang University, Korea, in 1988 and 1990, respectively. From 1990 to 1998, he worked for ADD (Agency for Defense Development) as a researcher. In 1999, he joined LIG Nex1 and has been engaged in the development of harbor surveillance systems and underwater vehicles such as torpedo and UUV. His research interests include torpedo sonar system and underwater environmental modeling and simulation.
Tae-yeong Kim received his B.S. & M.S. degrees in Electronics from Kyungpook National University, Korea, in 1985 and 1987, respectively and his Ph.D. degree in Mechatronics from Sungkyunkwan University, Korea, in 2009. Since 1990, he has been with LIG Nex1, where he is now the Head of Maritime R&D Center as a Senior Vice President. His research interests include guidance and control, BLDC motor drives, and application of digital controllers for underwater vehicles.
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Kim, D.W., Lee, H.J., Kim, M.H. et al. Robust sampled-data fuzzy control of nonlinear systems with parametric uncertainties: Its application to depth control of autonomous underwater vehicles. Int. J. Control Autom. Syst. 10, 1164–1172 (2012). https://doi.org/10.1007/s12555-012-0611-2
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DOI: https://doi.org/10.1007/s12555-012-0611-2