Design of Takagi-Sugeno Fuzzy Controller Using PDC and Its Application to Hydrofoil Catamaran

Abstract

In this paper, we propose a novel attitude control strategy for a hydrofoil catamaran over its whole operating range based on Takagi-Sugeno (T-S) fuzzy controller via parallel distributed compensation (PDC) method, which aims to overcome some drawback of the conventional linear quadratic regulator (LQR). First, the T-S fuzzy system and PDC algorithm are introduced. The nonlinear mathematical model of the hydrofoil catamaran is then derived to verify the proposed control strategy. The advantage in interpolation of the T-S fuzzy model ensures that the feedback gain can be obtained smoothly, while the boat's speed is shifting over the operating envelope. At the same time, the merit of the LQR control is also well retained. By use of the Matlab's LMI toolbox, a common positive definite matrix P can be found so as to guarantee the global stability of the fuzzy control system of the hydrofoil catamaran. Finally, based on the simulation model of the boat HB200B-A1, the effectiveness of the nonlinear mathematical model and the proposed T-S fuzzy controller using PDC method is demonstrated.