Stability Analysis and T-S Fuzzy Dynamic Positioning Controller Design for Autonomous Surface Vehicles Based on Sampled-Data Control

被引：10

作者：

Zheng, Minjie ^{[1
]}

Yang, Shenhua ^{[1
]}

Li, Lina ^{[1
]}

机构：

[1] Jimei Univ, Nav Coll, Xiamen 361021, Peoples R China

来源：

IEEE ACCESS | 2020年 / 8卷

基金：

中国国家自然科学基金;

关键词：

Vehicle dynamics; Stability analysis; Sea surface; Licenses; Navigation; Surface waves; Boats; Autonomous surface vehicles; dynamic positioning system; T-S fuzzy model; sampled-data control; TRACKING CONTROL; NONLINEAR-SYSTEMS; POLE ASSIGNMENT; UNCERTAIN SHIP; MODELS; DELAY;

D O I：

10.1109/ACCESS.2020.3015589

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article investigates the stability analysis and the fuzzy dynamic positioning (DP) controller design for an autonomous surface vehicle (ASV) based on sampled-data. Firstly, the Takagi-Sugeno (T-S) fuzzy model for the ASV with dynamic positioning system (DPS) is established. Then the criteria for asymptotically stability analysis and controller synthesis are provided by means of linear matrix inequalities. And less conservative results can be obtained by introducing convex reciprocal inequalities. Finally, simulation result is shown that the fuzzy sampled-data controller is effective to guarantee that the states of the ASV are stable and have good DP performance under the external disturbance.

引用

页码：148193 / 148202

页数：10

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