Interval Type-2 Fuzzy Control to Solve Containment Problem of Multiple USV with Leader’s Formation Controller

Wen-Jer Chang, Yann-Horng Lin, Cheung-Chieh Ku

2023

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 presented to verify the proposed design method.

Paper Citation

in Harvard Style

Chang W., Lin Y. and Ku C. (2023). Interval Type-2 Fuzzy Control to Solve Containment Problem of Multiple USV with Leader’s Formation Controller. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 302-310. DOI: 10.5220/0012233700003543

in Bibtex Style

@conference{icinco23,
author={Wen-Jer Chang and Yann-Horng Lin and Cheung-Chieh Ku},
title={Interval Type-2 Fuzzy Control to Solve Containment Problem of Multiple USV with Leader’s Formation Controller},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={302-310},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012233700003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Interval Type-2 Fuzzy Control to Solve Containment Problem of Multiple USV with Leader’s Formation Controller
SN - 978-989-758-670-5
AU - Chang W.
AU - Lin Y.
AU - Ku C.
PY - 2023
SP - 302
EP - 310
DO - 10.5220/0012233700003543
PB - SciTePress