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Nussbaum-Based Adaptive Fuzzy Tracking Control of Unmanned Surface Vehicles with Fully Unknown Dynamics and Complex Input Nonlinearities

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Abstract

In this paper, subject to both fully unknown dynamics and complex input nonlinearities including unknown control directions and dead zones, a Nussbaum-based adaptive fuzzy trajectory tracking control scheme of an unmanned surface vehicle is addressed by combining adaptive fuzzy backstepping technique with Nussbaum approach. The dead-zone input nonlinearity is firstly divided into input-dependent functions and time-varying input coefficients which can be treated as system uncertainties. Together with disturbances, unknown dynamics and uncertainties, the lumped nonlinearity is online approximated by employing an adaptive fuzzy approximator. Within the backstepping framework, a Nussbaum gain function is further designed to tackle unknown control directions, and thereby devising an adaptive fuzzy trajectory tracking control scheme which is constructed recursively to deal with complex input nonlinearities and fully unknown dynamics. Theoretical analysis reveals that all signals of the closed-loop tracking system are bounded and tracking errors can converge to an arbitrarily small neighborhood of zero. Simulation studies demonstrate the effectiveness and superiority of the proposed approach.

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Acknowledgements

The authors would like to thank the Editor-in-Chief, Associate Editor and anonymous referees for their invaluable comments and suggestions. This work is supported by the National Natural Science Foundation of P. R. China (under Grants 51009017 and 51379002), Applied Basic Research Funds from Ministry of Transport of P. R. China (under Grant 2012-329-225-060), China Postdoctoral Science Foundation (under Grant 2012M520629), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Innovation Support Plan for Dalian High-level Talents (under Grant 2015R065), and the Fundamental Research Funds for the Central Universities (under Grant 3132016314)

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Authors and Affiliations

  1. Center for Intelligent Marine Vehicles, and School of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China

    Ning Wang, Ying Gao, Zhuo Sun & Zhongjiu Zheng

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  1. Ning Wang
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  2. Ying Gao
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  3. Zhuo Sun
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  4. Zhongjiu Zheng
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Correspondence to Ning Wang.

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Wang, N., Gao, Y., Sun, Z. et al. Nussbaum-Based Adaptive Fuzzy Tracking Control of Unmanned Surface Vehicles with Fully Unknown Dynamics and Complex Input Nonlinearities. Int. J. Fuzzy Syst. 20, 259–268 (2018). https://doi.org/10.1007/s40815-017-0387-x

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  • DOI: https://doi.org/10.1007/s40815-017-0387-x

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