کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

LMI-Based Depth Control of an Autonomous Underwater Vehicle: A Comparison Between Takagi–SugenoFuzzy and Koopman–EDMD Approaches

نویسندگان :

MOHAMMAD REZA KAMALI ARDAKANI¹ MAHDI POURGHOLI²

1- University of bologna 2- دانشگاه شهید بهشتی

کلمات کلیدی :

AUV depth control،Takagi–Sugeno model،Koopman operator،EDMD،LMIs

چکیده :

This paper studies vertical depth regulation of an autonomous underwater vehicle (AUV) with quadratic drag, actuator saturation, and sinusoidal disturbances. Two linear-matrix-inequality (LMI) based designs are compared on a common nonlinear benchmark. In the first method, the dynamics are expressed as a three-rule Takagi--Sugeno (T--S) fuzzy model obtained from a sector approximation of the drag term, and a parallel distributed compensation controller is synthesized via LMIs with a common quadratic Lyapunov function. In the second method, a data-driven Koopman operator model is learned by extended dynamic mode decomposition (EDMD) in a five-dimensional lifted space, and a continuous-time lifted model is used for LMI-based state-feedback design of a normalized input. Both controllers are implemented on the original nonlinear plant. Simulations for several initial conditions show that the fuzzy design is slightly faster for large depth errors, while the Koopman-based controller yields reduced overshoot and control effort for moderate errors.