Mixed performance for robust fuzzy control of nonlinear autonomous surface vehicle via T‐S model approach

This paper addresses the robust fuzzy control with mixed performance of autonomous surface vehicle (ASV) via T‐S model approach. The nonlinear model demonstrates the motion of autonomous surface vehicle. The dynamics of this model is governed by a six‐dimensional differential equation with nonlinear behavior. A robust fuzzy control is proposed to guarantee the mixed performance of uncertain T‐S fuzzy model under consideration. Linear matrix inequality (LMI) optimization approach is developed to achieve the design of controller for parallel distributed compensator (PDC) and minimization the H2 measure or H∞ performance. The mixed H2/H∞ performance can be used to achieve the disturbance attenuation and motion reduction of ASV. Finally, an example is illustrated to show the main contribution of our results. The proposed PDC is provided to guarantee the mixed performance for the nonlinear model of ASV.