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Finite-Time Sideslip Observer-Based Adaptive Fuzzy Path-Following Control of Underactuated Marine Vehicles with Time-Varying Large Sideslip

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Abstract

For an underactuated marine vehicle (UMV) with time-varying large sideslip and unknown dynamics, a novel finite-time sideslip observer-based adaptive fuzzy path-following control (FSO-AFPFC) scheme is proposed. Main contributions are as follows: (1) a finite-time sideslip observer (FSO) is created to exactly estimate time-varying large sideslip angle in a short time, and is incorporated into the proposed sideslip-tangent line-of-sight (SLOS) guidance scheme, and thereby achieving fast and accurate guidance which significantly enhances robustness to unknown sideslip; (2) complex unknown dynamics are identified online by adaptive fuzzy approximators without a priori knowledge on UMV dynamics; (3) by virtue of adaptive non-smooth robust compensators, approximation errors can be completely dominated, and thereby contributing to model-free adaptive fuzzy controllers which make surge and heading tracking errors globally asymptotically converge to zero. Simulation studies are conducted to demonstrate the effectiveness and superiority of the proposed FSO-AFPFC scheme.

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

    Ning Wang, Zhuo Sun, Zhongjiu Zheng & Hong Zhao

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  1. Ning Wang
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  2. Zhuo Sun
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Correspondence to Ning Wang.

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Wang, N., Sun, Z., Zheng, Z. et al. Finite-Time Sideslip Observer-Based Adaptive Fuzzy Path-Following Control of Underactuated Marine Vehicles with Time-Varying Large Sideslip. Int. J. Fuzzy Syst. 20, 1767–1778 (2018). https://doi.org/10.1007/s40815-017-0392-0

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