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T-S Fuzzy Model-Based Depth Control of Underwater Vehicles

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Abstract

A T-S fuzzy model with two rules is established to exactly describe the nonlinear uncertain heave dynamics of underwater vehicles with bounded heave speed. A single linear-matrix-inequality-based (LMI-based) state feedback controller is then synthesized to guarantee the global stability of the depth control system. Simulation results verify the effectiveness of the proposed approach in comparison with linear-quadratic regulator (LQR) method. Nonlinear disturbance observer is appended to the system when the underwater vehicles are affected by the gravity-buoyancy imbalance. The two-stage control method is effective to stabilize an uncertain system with both parameter uncertainties and external disturbances.

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Authors and Affiliations

  1. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Yuan Qian  (钱缘), Zhengping Feng  (冯正平), Anyuan Bi  (毕安元) & Weiqi Liu  (刘伟奇)

  2. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Zhengping Feng  (冯正平)

Authors
  1. Yuan Qian  (钱缘)
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  2. Zhengping Feng  (冯正平)
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  3. Anyuan Bi  (毕安元)
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  4. Weiqi Liu  (刘伟奇)
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Corresponding author

Correspondence to Zhengping Feng  (冯正平).

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Qian, Y., Feng, Z., Bi, A. et al. T-S Fuzzy Model-Based Depth Control of Underwater Vehicles. J. Shanghai Jiaotong Univ. (Sci.) 25, 315–324 (2020). https://doi.org/10.1007/s12204-020-2165-4

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  • DOI: https://doi.org/10.1007/s12204-020-2165-4

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