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Observer-Based Adaptive Fuzzy Event-Triggered Path Following Control of Marine Surface Vessel

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Abstract

In this paper, the path following control scheme of a fully actuated marine surface vessel under the condition of model uncertainties and unmeasurable states is developed. Firstly, an adaptive fuzzy state observer is designed to estimate the unmeasurable states of the vessel. To guarantee the robustness of the system, a kind of sliding mode intermediate variable with the improved approaching law is constructed to eliminate the chattering effect and the vessel can obtain a better control performance. By combining with the relative threshold event-triggered strategy, the controllers only update when the triggering conditions are met. Hence, the update frequency of controllers and the loss of actuators are enormously decreased in contrast with the fixed threshold event-triggered control law. Theoretical analysis proves that the tracking error can converge into a compact set, meanwhile the Zeno behavior is avoided. Simulation results and comparative analysis indicate the availability and superiority of the designed controllers.

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Acknowledgements

This work is supported in part by the National Natural Science Foundation of China (under Grant Nos. 51939001, 61976033, 61773187, 61903092); the Liaoning Revitalization Talents Program (under Grant Nos. XLYC1908018); the Science and Technology Innovation Funds of Dalian (under Grant No. 2018J11CY022).

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Authors and Affiliations

  1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Meilin Li, Yue Long, Tieshan Li & Weiwei Bai

  2. Navigation College, Dalian Maritime University, Dalian, 116026, Liaoning, China

    Tieshan Li

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  1. Meilin Li
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Correspondence to Yue Long.

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Li, M., Long, Y., Li, T. et al. Observer-Based Adaptive Fuzzy Event-Triggered Path Following Control of Marine Surface Vessel. Int. J. Fuzzy Syst. 23, 2021–2036 (2021). https://doi.org/10.1007/s40815-021-01065-2

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