Fuzzy Adaptive Control for a Class of Nonlinear System with Prescribed Performance and Unknown Dead-Zone Inputs

Yang, Chunzhi; Xu, Shukai; Lv, Hui

doi:10.1155/2020/8849831

Cited by 3 publications

(3 citation statements)

References 32 publications

(60 reference statements)

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“…In practice, however, it is difficult to obtain accurate initial condition information about 𝑒 1 , and sometimes only cursory information about 𝑒 1 (0) is available. In this paper, using the above relation and the newly constructed function (11), we can choose the design constant l to relax the requirement for the exact initial condition 𝑒 1 (0).…”

Section: Performance Function and Berthing Error Conversionmentioning

confidence: 99%

“…An improved predetermined performance function is designed to ensure the transient behavior of tracking errors. Yang [11] et al added a Nussbaum-type function to the predefined performance controller to estimate the unknown control direction, ensuring the bound ability of all signals in the closed-loop system. Zhang [12] et al used fuzzy logic systems to identify unknown nonlinear systems and established a fuzzy state observer to estimate the uncertain state of the system.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Automatic berthing of unmanned surface vessels with predetermined performance

Wang,

Zhang,

Zhao

et al. 2023

Preprint

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To solve the problem of ship automatic berthing control due to unknown time-varying disturbance and dynamic uncertainty of model parameters, an automatic berthing control law based on predefined performance time function is proposed. First, a predefined performance time function is designed and coupled with tracking error to achieve the predetermined performance of tracking error. Secondly, radial basis function neural network is used to approach the dynamic uncertainty of ship model parameters, and the complex uncertainty of model parameters and unknown time-varying disturbance is represented by linearized parameter form with single virtual parameter, which makes the calculation simple and easy to implement in engineering. On this basis, the reverse step control law is designed. Thirdly, the stability of the system is proved based on Lyapunov stability theory. Finally, the simulation results show that the control law can make the ship reach the desired position and heading Angle, and realize the automatic berthing of the ship. The control law and berthing controller designed in this paper have good applicability and robustness, which provides a theoretical basis for the subsequent control research of surface intelligent ships.

show abstract

Section: Performance Function and Berthing Error Conversionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Automatic berthing of unmanned surface vessels with predetermined performance

Wang,

Zhang,

Zhao

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…An improved predetermined performance function is designed to ensure the transient behavior of tracking errors. Yang et al 11 added a Nussbaum-type function to the predefined performance controller to estimate the unknown control direction, ensuring the bound ability of all signals in the closed-loop system. Zhang et al 12 used fuzzy logic systems to identify unknown nonlinear systems and established a fuzzy state observer to estimate the uncertain state of the system.…”

Section: Introductionmentioning

confidence: 99%

Automatic berthing of unmanned surface vessels with predetermined performance

Wang,

Zhang,

Zhao

et al. 2024

Sci Rep

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To solve the problem of ship automatic berthing control due to unknown time-varying disturbance and dynamic uncertainty of model parameters, an automatic berthing control law based on predefined performance time function is proposed. First, a predefined performance time function is designed and coupled with tracking error to achieve the predetermined performance of tracking error. Secondly, radial basis function neural network is used to approach the dynamic uncertainty of ship model parameters, and the complex uncertainty of model parameters and unknown time-varying disturbance is represented by linearized parameter form with single virtual parameter, which makes the calculation simple and easy to implement in engineering. On this basis, the reverse step control law is designed. Thirdly, the stability of the system is proved based on Lyapunov stability theory. Finally, the simulation results show that the control law can make the ship reach the desired position and heading angle, and realize the automatic berthing of the ship. The control law and berthing controller designed in this paper have good applicability and robustness, which provides a theoretical basis for the subsequent control research of surface intelligent ships.

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Finite‐Time Adaptive Fuzzy Control for Stochastic Nonlinear Systems with Input Quantization and Actuator Faults

Kharrat,

Alhazmi

2024

Journal of Mathematics

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This study examines the problem of fuzzy adaptive finite‐time control for strict‐feedback stochastic nonlinear systems in the presence of actuator faults and quantization. The nonlinear functions inside the systems are approximated using fuzzy logic systems (FLS). Fuzzy approximation abilities are employed to develop an adaptive fuzzy finite‐time controller based on the backstepping design methodology and the Lyapunov function approach. It is shown that, despite quantization and unknown actuator faults, the closed‐loop system states stay bounded and the tracking error is confined to a small range close to equilibrium in finite time. The simulation examples are provided to illustrate the efficacy of the control strategy.

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Fuzzy Adaptive Control for a Class of Nonlinear System with Prescribed Performance and Unknown Dead-Zone Inputs

Cited by 3 publications

References 32 publications

Automatic berthing of unmanned surface vessels with predetermined performance

Automatic berthing of unmanned surface vessels with predetermined performance

Automatic berthing of unmanned surface vessels with predetermined performance

Finite‐Time Adaptive Fuzzy Control for Stochastic Nonlinear Systems with Input Quantization and Actuator Faults

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