Authors:
Wen-Jer Chang
1
;
Yann-Horng Lin
1
and
Cheung-Chieh Ku
2
Affiliations:
1
Department of Marine Engineering, National Taiwan Ocean University, Keelung, R.O.C., Taiwan
;
2
Department of Marine Engineering, National Kaohsiung University of Science and Technology, Kaohsiung, R.O.C., Taiwan
Keyword(s):
Interval Type-2 Fuzzy Control, Containment Problem, Multiple USVs, Formation Controller.
Abstract:
An interval type-2 (IT2) fuzzy controller design method is proposed in this paper to simultaneously solve the formation and containment control problems of multi-unmanned surface vehicles (USVs) system. Via the construction of IT2 Takagi-Sugeno Fuzzy Model (IT2T-SFM), the control problem of nonlinear multi-USVs system can be transferred into the linear problem and the uncertain factors can be described more completely. Based on the IT2T-SFM, the IT2 fuzzy formation and containment controller is designed by the imperfect premise matching method to achieve the more flexible design process. When the IT2 fuzzy formation controller is designed for the leader USVs system, some problems are occurred in the containment analysis process. Therefore, the design concept for unknown leader’s input is extended to solve the problem. And a technique is applied to obtain the less-conservative IT2 fuzzy controller design process for the containment purpose. Finally, the simulation results are presente
d to verify the proposed design method.
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