Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model
Joint Authors
Yan, Zheping
Hao, Bing
Hou, Shuping
Liu, Yibo
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-11-04
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A two-stage discrete T-S fuzzy model controller, which is formed by a motion controller and a dynamic controller connected in series, is presented to solve UUV (unmanned underwater vehicle) movement control problem for recovering.
The motion controller is designed based on the uncertain T-S model and the concept of discrete fuzzy vector.
The position error between UUV and moving platform as the input of the motion controller is converted into the speed commands of UUV at the next time.
The dynamic controller design is based on the theory of fuzzy region model and a relaxed condition for Lyapunov stabilization function is derived in the form of linear matrix inequalities, which generate force and torque required to complete the recovery task.
The feasibility and the efficiency of the proposed control scheme are illustrated through the simulations that UUV follows moving platform.
American Psychological Association (APA)
Yan, Zheping& Hao, Bing& Liu, Yibo& Hou, Shuping. 2014. Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model. Discrete Dynamics in Nature and Society،Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-1035027
Modern Language Association (MLA)
Yan, Zheping…[et al.]. Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model. Discrete Dynamics in Nature and Society No. 2014 (2014), pp.1-11.
https://search.emarefa.net/detail/BIM-1035027
American Medical Association (AMA)
Yan, Zheping& Hao, Bing& Liu, Yibo& Hou, Shuping. Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model. Discrete Dynamics in Nature and Society. 2014. Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-1035027
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1035027