Mixed and Passive Depth Control for Autonomous Underwater Vehicles with Fuzzy Memorized Sampled-Data Controller

作     者：Ma, Chao Qiao, Hong Kang, Erlong 

作者机构：School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China 

出 版 物：《International Journal of Fuzzy Systems》 

年 卷 期：2017年第20卷第2期

页      面：621-629页

摘      要：This paper investigates the depth control problem for autonomous underwater vehicles (AUVs) by developing a novel fuzzy memorized sampled-data controller. In particular, the mixed $$H_{\infty }$$ and passive performance index is considered for disturbances in more practical underwater environments. By means of the Lyapunov–Krasovskii functional method, sufficient criteria are established such that the desired depth can be stabilized while satisfying the prescribed mixed $$H_{\infty }$$ and passive performance. Then, the desired fuzzy memorized controller is designed in terms of linear matrix inequalities (LMIs). Finally, an illustrative example is provided for demonstrating the feasibility and effectiveness of our derived results.