Delay-independent stabilization of depth control for unmanned underwater vehicle

This paper proposes a fuzzy state feedback controller of depth control for unmanned underwater vehicle (UUV) to solve the communication time-delay problem resulting from application of the Network Control System (NCS). Firstly, we adopt T-S fuzzy reasoning method to express the vertical plane dynamics time-delay model of UUV. Secondly, by using Parallel Distributed Compensation (PDC) strategy, a state feedback controller is designed. Thirdly, LMI is exploited to calculate the gains of the controller. And the simulation results demonstrate the effectiveness and robustness of the proposed method.