Observer-based adaptive fuzzy prescribed performance control for intelligent ship autopilot

Abstract

In this paper, the algorithm design problem of intelligent ship autopilot with an unmeasured yaw rate is investigated based on adaptive fuzzy control. The fuzzy logic system (FLS) is employed to approximate the unknown function, and a fuzzy state observer is designed to estimate the unmeasured state. To achieve the specified performance constraints, the error transformed method is introduced. Based on adaptive backstepping method, an observer-based adaptive fuzzy output-feedback control scheme is developed. The proposed control scheme can reduce the conservativeness and the complexity of controller. It is proved that all the signals in the closed-loop system are bounded via Lyapunov theory. The efficacy of theoretical results is demonstrated by the simulations.

Advancing unmanned surface vehicle heading control: real-sea validation of a practical model predictive controller for a medium-scale hybrid-power trimaran

“…Recent years have witnessed the gradual integration of diverse advanced control algorithms. Noteworthy contributions include the development of a feedback linearization control law 5 , a linear pathkeeping control algorithm combining Nussbaum gain and backstepping techniques 6 , the fuzzy-approximator-based adaptive controllers 7,8 , a direct adaptive neural network controller 9 , and a sliding mode controller with an extended observer 10 . Despite these commendable endeavours, owing to the complex nature of USVs and the complexities inherent in marine environments, PID remains the most pragmatic and predominant control algorithm for real-world engineering applications.…”

Overview of the Development of Ship Manoeuvring and Control Technology

“…At present, there are many studies on ship maneuvering and control technology [1][2][3], mainly in the field of autopilot [4][5]. Among them, Zhu Liyan et al proposed an adaptive fuzzy control algorithm for intelligent ship autopilot systems, considering input saturation, unknown rotational angular velocity, and specified performance [6]; Shen Chuanjun et al designed a portable debugging and adaptation device for autopilots to address the issue of a lack of portable analog servo actuators [7][8]; Li Zhongjie conducted research on the hardware and software design of ship autopilot monitoring and alarm systems based on ship autopilot monitoring technology, in order to further promote the development of autopilot monitoring and alarm systems. However, there is even less comprehensive research on ships and control technology [9].…”