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Uncertainty observation-based adaptive succinct fuzzy-neuro dynamic surface control for trajectory tracking of fully actuated underwater vehicle system with input saturation

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Abstract

In this paper, an uncertainty observation-based adaptive fuzzy neural dynamic surface control (UOB-AFNDSC) is proposed to investigate the problem of high-accuracy trajectory tracking of fully actuated underwater vehicles with respect to unknown uncertainties and input saturation. The control framework of UOB-AFNDSC is constructed using the dynamic surface technique, under which an online-succinct fuzzy-neuro uncertainty observer with both projection-based parameter learning and succinct network structure learning is constructed to online identify the lumped uncertainty term including system uncertainties and external disturbances. To further suppress the effect of uncertainty reconstruction error and input saturation error, two adaptive robust terms are introduced, respectively. To theoretically analyze the stability of the overall closed-loop control system, novel error variables are introduced to ensure the uniform ultimate boundedness of all signals, and the tracking accuracy can be easily adjusted by the width parameter of novel error variables. Finally, some simulations are carried out to demonstrate the effectiveness of the proposed control scheme.

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Acknowledgements

This work is supported by the National Natural Science Foundation of PR China (under Grant 51479018) and Fundamental Research Funds for the Central Universities of PR China (under Grant 3132016335).

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Authors and Affiliations

  1. Department of Marine Engineering, Dalian Maritime University, Dalian, 116026, China

    Siyuan Liu, Yancheng Liu & Xiaoling Liang

  2. School of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China

    Ning Wang

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  1. Siyuan Liu
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Correspondence to Siyuan Liu, Yancheng Liu or Ning Wang.

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Liu, S., Liu, Y., Liang, X. et al. Uncertainty observation-based adaptive succinct fuzzy-neuro dynamic surface control for trajectory tracking of fully actuated underwater vehicle system with input saturation. Nonlinear Dyn 98, 1683–1699 (2019). https://doi.org/10.1007/s11071-019-05279-w

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