Fuzzy unknown observer-based robust adaptive path following control of underactuated surface vehicles subject to multiple unknowns

被引：127

作者：

Wang, Ning ^{[1
,2
]}

Sun, Zhuo ^{[1
,2
]}

Yin, Jianchuan ^{[3
]}

Zou, Zaojian ^{[4
]}

Su, Shun-Feng ^{[5
]}

机构：

[1] Dalian Maritime Univ, Ctr Intelligent Marine Vehicles, Dalian 116026, Peoples R China

[2] Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China

[3] Dalian Maritime Univ, Nav Coll, Dalian 116026, Peoples R China

[4] Shanghai Jiao Tong Univ, Dept Naval Architecture & Ocean Engn, Shanghai 200030, Peoples R China

[5] Natl Taiwan Univ Sci & Technol, Dept Elect Engn, Taipei, Taiwan

来源：

OCEAN ENGINEERING | 2019年 / 176卷

关键词：

Surge-guided line-of-sight guidance; Path following control; Underactuated surface vehicle; Fuzzy unknown observer; TRACKING CONTROL; UNDERWATER VEHICLES; SYSTEM; NAVIGATION; VESSELS;

D O I：

10.1016/j.oceaneng.2019.02.017

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

In this paper, suffering from multiple unknowns including unmodeled dynamics, uncertainties, and disturbances, a fuzzy unknown observer-based robust adaptive path following control (FUO-RAPFC) scheme for an underactuated surface vehicle (USV) is proposed. Main contributions are as follows: (1) A surge-guided line-of-sight (SGLOS) guidance law is created to guide surge speed and heading angle, simultaneously, and thereby adapting to path following errors to enhance robustness and flexibility; (2) By virtue of combining auxiliary observation dynamics with adaptive approximation error compensation, the FUO is innovatively devised to accurately lumped unknowns rather than bounded observations; (3) FUO-based robust adaptive tracking control laws are eventually synthesized and ensure that the guided signals can be globally asymptotically tracked. Simulation studies are conducted to demonstrate remarkable performance of the FUO-RAPFC scheme.

引用

页码：57 / 64

页数：8

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