Stability control of a hovercraft using Takagi-Sugeno and switched fuzzy control

Abstract

This project describes the basic concepts of switched fuzzy systems and building its simulation algorithms. Model construction, stability analysis and system design are presented to control a hovercraft vehicle (HV). The position and velocity are the constraints of this nonholonomic system, whereupon a continuous feedback control law cannot stabilize the system. A comparison between the ordinary Takagi-Sugano (T-S) and switching fuzzy system is employed to represent the good performance of the system using linear matrix inequality (LMI) conditions. In addition, the proposed concepts are verified using MATLAB functions for the T-S and switching fuzzy controllers, along with the LMI conditions.