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

Abstract

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.

Keywords

• Autonomous surface vehicles
• dynamic positioning system
• T-S fuzzy model
• sampled-data control