Patent ID: 11921505
Assignee: WUHAN UNIVERSITY OF TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G  B  H | IPC B  G  H

Claim 4:
5. The method according to claim 4, wherein the step S2 comprises:
when nonlinear terms x2 and x3 exist in a parameter matrix A0, according to a change range of the nonlinear terms, determining system fuzzy sets: Mi(x2(k)) and Ni(x3(k)) by the T-S fuzzy method, and in combination with a method for transforming a continuous system into a discrete system, describing the corresponding fuzzy system as:
ri: if x2(k) belongs to the set Mi(x2(k)) and x3(k) belongs to the set Ni(x3(k)),, {
  
   
    
     
      
       
        
         x
         ⁢
         
          (
          
           k
           +
           1
          
          )
         
        
        =
        
         
          
           A
           i
          
          ⁢
          x
          ⁢
          
           (
           k
           )
          
         
         +
         
          
           B
           i
          
          ⁢
          
           u
           ⁡
           (
           k
           )
          
         
        
       
      
     
     
      
       
        
         
          
           x
           ⁢
           
            (
            k
            )
           
          
          =
          
           ϕ
           ⁢
           
            (
            k
            )
           
          
         
         ,
         
          k
          ∈
          
           [
           
            
             -
             
              d
              M
             
            
            ,
            0
           
          
         
        
        )
       
      
     
    
    ⁢
    
     (
     
      
       i
       =
       1
      
      ,
      2
      ,
      
       ⋯
       ⁢
          
       r
      
     
     )
    
   
   ,, i being a fuzzy rule number, ri representing the ith fuzzy rule, and dM ϵ N representing a delay upper bound; and
determining an overall model of the switchable T-S fuzzy control system as x(k+1)=Ax(k)+Bu(k), wherein A=Σi=1rhi(x(k))Ai, B=Σi=1rhi(x(k))Bi, hi(x(k)) represents a membership function determined by the fuzzy set, Mi(x2(k)) and Ni(x3(k)) represent system fuzzy sets, Ai and Bi represent system parameter matrixes of the unmanned surface vehicle, ϕ(k) represents a rolling angle, N represents a natural number, and r represents an angular velocity of yawing of the three degrees of freedom of the unmanned surface vehicle.