Event-triggered composite adaptive fuzzy control of sailboat with heeling constraint

被引：25

作者：

Deng, Yingjie ^{[1
]}

Zhang, Xianku ^{[1
]}

Zhang, Qiang ^{[2
]}

Hu, Yancai ^{[2
]}

机构：

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

[2] Shandong Jiaotong Univ, Nav Coll, Weihai 264209, Shandong, Peoples R China

来源：

OCEAN ENGINEERING | 2020年 / 211卷

基金：

美国国家科学基金会;

关键词：

Sailboat; Event-triggered control (ETC); Composite adaptive fuzzy control; Heeling constraint; Input saturation; UNDERACTUATED SHIPS; NONLINEAR-SYSTEMS; TRACKING;

D O I：

10.1016/j.oceaneng.2020.107627

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, the event-triggered composite adaptive fuzzy control laws are developed to control both the surge speed and the heading angle of the sailboat. The fuzzy logic systems (FLSs) are employed to approximate the nonlinearities in the model of the sailboat. To enhance the approximating accuracy, a serial-parallel estimation model is established at first, and the composite adaptive laws of the FLS weights are then derived by combining the tracking errors with the prediction errors between the estimation model and the dynamic loop of the sailboat. To prevent the sailboat from capsizing, we consider the heeling constraint in the roll motion during the voyage. By using the backstepping method, the heeling constraint is transformed to the input saturation of the sail. The auxiliary systems are fabricated to offset the input saturation of the sail and the rudder, which are incorporated into the control laws. To reduce the acting frequencies of the actuators, the control laws for the sail and the rudder are designed in the event-triggered form, and the triggering conditions are constructed separately. The uncertain gain of the rudder is estimated by the adaptive laws. The proposed control scheme can guarantee the semi-global uniformly ultimate boundedness (SGUUB) of all the errors. Through the numerical path-following test, the effectiveness of the proposed scheme is verified.

引用

页数：10

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