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Robust Fuzzy Adaptive Output Feedback Optimal Tracking Control for Dynamic Positioning of Marine Vessels with Unknown Disturbances and Uncertain Dynamics

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Abstract

In this paper, a robust adaptive output feedback optimal tracking control design based on fuzzy logic systems (FLSs) is proposed for dynamic positioning (DP) of marine vessels with unknown environmental disturbances and uncertain dynamics. Firstly, a fuzzy state observer (FSO) is developed to obtain the unmeasured velocities and approximate the uncertain dynamics of the DP system. Then, the vectorial backstepping technique is adopted to design a feedforward controller. A FLS-based single critic structure is established to approximate the performance index function. Subsequently, an adaptive optimal feedback controller is presented by utilizing adaptive dynamic programming (ADP) method. Furthermore, the unknown environmental disturbances are estimated by a disturbance observer (DO) via the FSO to make the DP system robust. Therefore, the entire DP optimal control scheme is comprised of a feedforward controller, a feedback controller and an estimation of disturbances. The proposed robust adaptive optimal tracking control method can track the desired trajectory, and it is proved that all signals in the closed-loop DP system are uniformly ultimately bounded (UUB). Finally, simulation results are presented to illustrate the validity of the proposed DP control scheme.

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Acknowledgements

We sincerely thank the anonymous reviewers for all the thoughtful and very constructive comments. The insightful suggestions help us to improve the quality of this paper significantly. We would like to thank the editor for coordinating the review of this paper.

Funding

This work is supported in part by the National Natural Science Foundation of China (under Grant Nos. 51939001, 61976033, 61903092); the Science and Technology Innovation Funds of Dalian (under Grant No. 2018J11CY022); the Liaoning Revitalization Talents Program (under Grant Nos. XLYC1908018); the Fundamental Research Funds for the Central Universities (under Grant No. 3132019345); the Doctoral Innovation Project of Dalian Maritime University (under Grant No. BSCXXM002).

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Authors and Affiliations

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

    Xiaoyang Gao, Tieshan Li & Liang’en Yuan

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

    Tieshan Li & Weiwei Bai

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  1. Xiaoyang Gao
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  2. Tieshan Li
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Correspondence to Tieshan Li.

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Gao, X., Li, T., Yuan, L. et al. Robust Fuzzy Adaptive Output Feedback Optimal Tracking Control for Dynamic Positioning of Marine Vessels with Unknown Disturbances and Uncertain Dynamics. Int. J. Fuzzy Syst. 23, 2283–2296 (2021). https://doi.org/10.1007/s40815-021-01101-1

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  • DOI: https://doi.org/10.1007/s40815-021-01101-1

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