摘要：Takagi-Sugeno(T-S) fuzzy model is difficult to be linearized because of membership functions ***,novel T-S fuzzy state transformation and T-S fuzzy feedback are proposed for the linearization of T-S fuzzy *** novel T-S fuzzy state transformation is the fuzzy combination of local linear transformation which transforms local linear models in the T-S fuzzy model into the local linear controllable canonical *** fuzzy combination of local linear controllable canonical model gives controllable canonical T-S fuzzy model and then nonlinear feedback is obtained *** the linearization of T-S fuzzy model,a robust h∞ controller with the robustness of sliding model control(SMC) is *** a result,controlled T-S fuzzy system shows the performance of h∞ control and the robustness of SMC.

摘要：This article investigates the problem of robust h∞ controller design for sampled-data systems with time-varying norm-bounded parameter uncertainties in the state matrices. Attention is focused on the design of a causal sampled-data controller, which guarantees the asymptotical stability of the closed-loop system and reduces the effect of the disturbance input on the controlled output to a prescribed h∞ performance bound for all admissible uncertainties. Sufficient condition for the solvability of the problem is established in terms of linear matrix inequalities （LMIs）. It is shown that the desired h∞ controller can be constructed by solving certain LMIs. An illustrative example is given to demonstrate the effectiveness of the proposed method.

摘要：The design approach of h∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing h∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respectively. To evaluate the design approach,it is then utilized to synthesize the autopilot for flight control of Subzero Ⅲ,a low cost test-bed for AUV control techniques. Both simulations and water trails verify the effectiveness of the design approach.