FAILOS guidance law based adaptive fuzzy finite-time path following control for underactuated MSV
FAILOS guidance law based adaptive fuzzy finite-time path following control for underactuated MSV
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DOI：
10.1016/j.oceaneng.2019.106726
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发表时间：
2020-01-01
影响因子：
5
通讯作者：
Lin, Xiaogong
中科院分区：
文献类型：
--
作者：
Nie, Jun;Lin, Xiaogong
针对欠驱动水面舰艇（MSV）在时变海流和大侧滑角条件下的自适应模糊有限时间路径跟踪控制问题，提出了一种自适应模糊有限时间路径跟踪控制方法。所提出的FAILOS制导律不仅能计算期望航向角，还能同时估计时变海流和时变大侧滑角。本文首次将模糊逻辑系统引入到MSV路径跟踪控制问题的制导系统中。然后利用Backstepping技术建立自适应模糊有限时间路径跟踪控制器，并利用自适应模糊逻辑系统对未知集总干扰进行估计。采用新的饱和补偿器来处理输入饱和问题，并满足整个控制系统的有限时间收敛要求。仿真结果表明，所设计的自适应模糊有限时间路径跟踪控制器能够使船舶按照预定的路径运动，并且跟踪误差能够在有限时间内收敛到原点附近的一个小邻域内.仿真研究和比较表明，所提出的控制方法的有效性。
An adaptive fuzzy finite-time path following control design is presented for the underactuated marine surface vessel (MSV) under the condition of the time-varying ocean currents and time-varying large sideslip angle in this paper. The proposed FAILOS guidance law can not only calculate the desired heading angle but also estimate time-varying ocean currents and time-varying large sideslip angle simultaneously. It is the first time that the fuzzy logic system is introduced into the guidance system of MSV's path following control problem. Then the adaptive fuzzy finite-time path following controllers are established via backstepping technique, and the unknown lumped disturbances are estimated by the adaptive fuzzy logic system. The new saturation compensators are adopted to handle the input saturation problem and meet with finite-time convergence requirement of the whole control system. It has been demonstrated that the proposed adaptive fuzzy finite-time path following controllers can drive the vessel to follow the predefined path and tracking error can converge to a small neighborhood around origin in finite time. Simulation studies and comparisons are carried out to demonstrate the validity of the proposed control approach.