Abstract
In view of the universal approximation performance of the continuous function for the fuzzy system, with the problem of the state function and control input gain uncertainty in the USV motion model and the problem of unknown external disturbance, three fuzzy approximators are designed to estimate the above three unknown functions. The heading control law is designed by using the fuzzy switching method on the basis of Lyapunov stability theory. The simulation confirms the truth of the effectiveness of the algorithm.
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Acknowledgements
This research was supported by Natural Science Research Project of Jiangsu Province (Grant No. 18KJB580003), and Innovation Fund of Science and Technology of Jiangsu Maritime institute (Grant No. KJCX1811).
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Wang, R., Miao, K., Sun, J., Deng, H., Zhao, Y. (2020). Adaptive Sliding Mode Control for Unmanned Surface Vehicle with Fuzzy Switching. In: Huang, C., Chan, YW., Yen, N. (eds) Data Processing Techniques and Applications for Cyber-Physical Systems (DPTA 2019). Advances in Intelligent Systems and Computing, vol 1088. Springer, Singapore. https://doi.org/10.1007/978-981-15-1468-5_126
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DOI: https://doi.org/10.1007/978-981-15-1468-5_126
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