Fuzzy Uncertainty Observer Based Path Following Control of Underactuated Marine Vehicles with Unmodelled Dynamics and Disturbances

被引：0

作者：

Wang, Ning ^{[1
,2
]}

Sun, Zhuo ^{[1
,2
]}

Su, Shun-Feng ^{[3
]}

Wang, Yueying ^{[4
]}

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

[4] Shanghai Univ Engn Sci, Sch Elect & Elect Engn Sci, Shanghai 201620, Peoples R China

来源：

2017 INTERNATIONAL CONFERENCE ON FUZZY THEORY AND ITS APPLICATIONS (IFUZZY) | 2017年

关键词：

Surge-varying line-of-sight guidance; path following; underactuated marine vehicles; fuzzy uncertainty observer; TRACKING CONTROL; UNDERWATER VEHICLES;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

For an underactuated marine vehicle (UMV) with unmodelled dynamics and disturbances, a novel fuzzy uncertainty observer based path following control (FUO-PFC) scheme is proposed. Main contributions are as follows: (1) A surge-varying line-of-sight (SVLOS) guidance law is devised innovatively where the guided surge velocity adapts to cross-track error, and thereby significantly enhancing robustness and agility of the guidance system; (2) Unknown nonlinearities including unmodelled dynamics and disturbances are compositely estimated by the constructed fuzzy uncertainty observer (FUO); (3) Robust surge and heading tracking controllers based on the FUO are developed to ensure that tracking and observation errors are uniformly ultimately bounded (UUB). Simulation studies are conducted to demonstrate the effectiveness and remarkable performance of the proposed FUO-PFC scheme.

引用

页数：6

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