Adaptive Online Constructive Fuzzy Tracking Control for Unmanned Surface Vessel With Unknown Time-Varying Uncertainties | Zendy

Shasha Wang | Zendy; Mingyu Fu | Zendy; Yuanhui Wang | Zendy; Yulong Tuo | Zendy; Hongliang Ren | Zendy

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Adaptive Online Constructive Fuzzy Tracking Control for Unmanned Surface Vessel With Unknown Time-Varying Uncertainties

Author(s) -

Shasha Wang,

Mingyu Fu,

Yuanhui Wang,

Yulong Tuo,

Hongliang Ren

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2881134

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In this paper, a practical adaptive online constructive fuzzy control (AOCFC) algorithm is proposed to handle the trajectory tracking problem for the unmanned surface vessel under unknown time-varying uncertainties. In the AOCFC algorithm, the dynamic surface control technology combined with “logical virtual vessel”can program the rational reference route while avoiding the problem of “complexity explosion.”Besides, the proposed online constructive fuzzy approximator (OCFA) is devised to deal with the unknown time-varying uncertainties. The OCFA has two advantages: first, it can estimate the uncertainties without exact information of the dynamic model and external environmental disturbances; second, it employs decoupled distance measure and structure learning mechanism to dynamically and parsimoniously self-constructing fuzzy rules. At the same time, we have proved that the tracking errors of the closed-loop control system are uniformly ultimately bounded. Finally, the simulation result and comprehensive comparison demonstrate the proposed controller's performance and effectiveness.

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