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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 504541, 10 pages
Research Article

Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

1Department of Electrical Engineering, Hwa Hsia Institute of Technology, New Taipei City 235, Taiwan
2Graduate Institute of Computer and Communication Engineering, National Taipei University of Technology, Taipei 10608, Taiwan

Received 15 February 2013; Accepted 21 March 2013

Academic Editor: Chang-Hua Lien

Copyright © 2013 Yi-Hsiang Tseng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.