Model-based fuzzy modeling and control for autonomous underwater vehicles in the horizontal plane

Abstract

In this paper, the modeling and control of nonlinear Autonomous Underwater Vehicle (AUV) system is considered by using a Takagi-Sugeno (T - S) type fuzzy model. Applying the AUV T - S fuzzy model, one can develop a model-based fuzzy controller design utilizing the concept of Parallel Distributed Compensation (PDC). The main idea of the controller design approach is to derive each control rule so as to compensate each rule of a fuzzy system. The design procedure is conceptually simple and natural. Finally, the responses of states of AUV dynamic real system and AUV dynamic T - S fuzzy model will be shown in the simulation.