Journal of Shanghai Jiao Tong University (Science) ›› 2020, Vol. 25 ›› Issue (3): 315-324.doi: 10.1007/s12204-020-2165-4

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

QIAN Yuan (钱缘), FENG Zhengping (冯正平), BI Anyuan (毕安元), LIU Weiqi (刘伟奇)   

  1. (a. School of Naval Architecture, Ocean and Civil Engineering; b. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China)
  • 出版日期:2020-06-15 发布日期:2020-05-29
  • 通讯作者: FENG Zhengping (冯正平) E-mail:zfeng@sjtu.edu.cn

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

QIAN Yuan (钱缘), FENG Zhengping (冯正平), BI Anyuan (毕安元), LIU Weiqi (刘伟奇)   

  1. (a. School of Naval Architecture, Ocean and Civil Engineering; b. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China)
  • Online:2020-06-15 Published:2020-05-29
  • Contact: FENG Zhengping (冯正平) E-mail:zfeng@sjtu.edu.cn

摘要: 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.

关键词: underwater vehicles, uncertainty, depth control, T-S fuzzy model

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.

Key words: underwater vehicles, uncertainty, depth control, T-S fuzzy model

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