Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model
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 an...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2014/362787 |
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| _version_ | 1850220503320494080 |
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| author | Zheping Yan Bing Hao Yibo Liu Shuping Hou |
| author_facet | Zheping Yan Bing Hao Yibo Liu Shuping Hou |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-7b29c01aab404d82a7012473bb484da0 |
| institution | OA Journals |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-7b29c01aab404d82a7012473bb484da02025-08-20T02:07:02ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2014-01-01201410.1155/2014/362787362787Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy ModelZheping Yan0Bing Hao1Yibo Liu2Shuping Hou3College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaA 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.http://dx.doi.org/10.1155/2014/362787 |
| spellingShingle | Zheping Yan Bing Hao Yibo Liu Shuping Hou Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model Discrete Dynamics in Nature and Society |
| title | Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model |
| title_full | Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model |
| title_fullStr | Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model |
| title_full_unstemmed | Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model |
| title_short | Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model |
| title_sort | movement control in recovering uuv based on two stage discrete t s fuzzy model |
| url | http://dx.doi.org/10.1155/2014/362787 |
| work_keys_str_mv | AT zhepingyan movementcontrolinrecoveringuuvbasedontwostagediscretetsfuzzymodel AT binghao movementcontrolinrecoveringuuvbasedontwostagediscretetsfuzzymodel AT yiboliu movementcontrolinrecoveringuuvbasedontwostagediscretetsfuzzymodel AT shupinghou movementcontrolinrecoveringuuvbasedontwostagediscretetsfuzzymodel |