Network-Based T-S Fuzzy Dynamic Positioning Controller Design for Unmanned Marine Vehicles

Area of Science:

• Robotics
• Control Systems Engineering
• Networked Systems

Background:

• Unmanned Marine Vehicles (UMVs) require advanced control for dynamic positioning.
• Networked environments introduce challenges like asynchronous communication for UMV control.
• Existing control strategies may not adequately address these network-induced uncertainties.

Purpose of the Study:

• To design a Takagi-Sugeno (T-S) fuzzy dynamic positioning controller for UMVs operating in network environments.
• To establish network-based T-S fuzzy dynamic positioning system (DPS) models for UMVs.
• To develop stabilization criteria that account for asynchronous differences in fuzzy systems.

Main Methods:

• Development of network-based T-S fuzzy dynamic positioning system models for UMVs.
• Derivation of stability and stabilization criteria considering asynchronous membership function differences.
• Analysis of dynamic positioning performance to validate the proposed controller and models.

Main Results:

• Successfully established network-based T-S fuzzy DPS models for UMVs.
• Derived stabilization criteria capable of stabilizing UMV states under asynchronous conditions.
• Demonstrated the effectiveness of the networked modeling and controller design through performance analysis.

Conclusions:

• The proposed Takagi-Sugeno fuzzy controller effectively stabilizes unmanned marine vehicles in networked environments.
• The developed stabilization criteria successfully address asynchronous communication issues in dynamic positioning.
• The study validates the robustness and performance of the networked control approach for UMVs.