Adaptive fuzzy logic with self-adjusting membership functions based tracking control of surface vessels

Tatlıcıoğlu, Enver; Yilmaz, Bayram Melih; Savran, Aydoğan; Alcı, Musa

doi:10.1016/j.oceaneng.2022.111129

Cited by 5 publications

(2 citation statements)

References 21 publications

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“…Based on it, the optimal tracking controller is designed within critic-only ADP while minimizing the novel value function considering prescribed functions ( 4) and (5). Therefore, the whole controller is constructed as: (6) with d u is the feedback controller and * u is the optimal controller. The specific diagram of the whole controller is detailed in Figure 1.…”

Section: Resultsmentioning

confidence: 99%

“…To deal with the impact induced by uncertainties during controller design, there emerge a large amount of tools to approximate uncertainties and combined with other controllers, e.g., neural networks (NNs) [4,5], fuzzy logic systems [6][7][8], and disturbance observers [9][10][11]. For example, by integrating with a backstepping control, an adaptive tracking controller is designed in [5] for uncertain nonlinear systems, where an NN is utilized to estimate the uncertain term of the model.…”

Section: Introductionmentioning

confidence: 99%

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Critic-Only Learning Based Tracking Control for Uncertain Nonlinear Systems with Prescribed Performance

Gao

Liu

2023

Electronics

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A critic-only learning-based tracking control with prescribed performance was proposed for a class of uncertain nonlinear systems. Based on an estimator and an optimal controller, a novel controller was designed to make tracking errors uniformly ultimately bounded and limited in a prescribed region. First, an unknown system dynamic estimator was employed online to approximate the uncertainty with an invariant manifold. Subsequently, by running a novel cost function, an optimal controller was derived by online learning with a critic-only neural network, which ensured that tracking errors can evolve within a prescribed area while minimizing the cost function. Specifically, weight update can be driven by weight estimation error, avoiding introducing an actor-critic architecture with a complicated law. At last, the stability of a closed-loop system was analyzed by Lyapunov theorem, and tracking errors evolved within prescribed performance with the optimal controller. The effectiveness of the proposed control can be demonstrated by two examples.

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Section: Resultsmentioning

confidence: 99%