Fuzzy H∞ Delay-Independent Stabilization of Depth Control for Underwater Vehicle with Input Constraint

This paper investigates the depth control of unmanned underwater vehicle (UUV) in the presence of external disturbances, time delay, and actuator saturation. Firstly, a Takagi–Sugeno model is elaborated based on the speed variation. Then, using the polyquadratic representation with Lyapunov-Krasovskii function, an H∞ criteria is applied to design a new LMI based stabilization to calculate PDC controller gains taking into consideration the input limitation. Finally, simulation results demonstrate the superiority of the proposed approach.

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