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Fuzzy Uncertainty Observer-Based Path-Following Control of Underactuated Marine Vehicles with Unmodeled Dynamics and Disturbances

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Abstract

Subject to complex unknown nonlinearities including unmodeled dynamics, uncertainties, and unknown disturbances, a novel fuzzy uncertainty observer-based path-following control (FUO-PFC) scheme for an underactuated marine vehicle is proposed in this paper. Main contributions are as follows: (1) A surge-varying line-of-sight guidance law is devised innovatively where the guided surge velocity adapts to cross-track error, thereby significantly enhancing robustness and agility of the guidance system; (2) unknown nonlinearities are compositely estimated by the constructed fuzzy uncertainty observer and compensated accurately in the control system; (3) robust surge and heading tracking controllers based on the FUO are developed to ensure that surge and heading tracking errors and uncertainty observation errors are uniformly ultimately bounded. Simulation studies are conducted to demonstrate remarkable performance of the proposed FUO-PFC scheme.

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Acknowledgements

This work is supported by the National Natural Science Foundation of P. R. China (under Grants 51009017 and 51379002), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Innovation Support Plan for Dalian High-level Talents (under Grant 2015R065), the Stable Supporting Fund of Science and Technology on Underwater Vehicle Technology (under Grant SXJQR2018WDKT03), and the Fundamental Research Funds for the Central Universities (under Grant 3132016314 and 3132018126).

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Authors and Affiliations

  1. Center for Intelligent Marine Vehicles, and School of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, People’s Republic of China

    Ning Wang & Zhuo Sun

  2. Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan, People’s Republic of China

    Shun-Feng Su

  3. School of Electronic and Electrical Engineering Science, Shanghai University of Engineering Science, Shanghai, 201620, People’s Republic of China

    Yueying Wang

  4. Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin, 150001, People’s Republic of China

    Ning Wang

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  1. Ning Wang
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  2. Zhuo Sun
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Correspondence to Ning Wang.

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Wang, N., Sun, Z., Su, SF. et al. Fuzzy Uncertainty Observer-Based Path-Following Control of Underactuated Marine Vehicles with Unmodeled Dynamics and Disturbances. Int. J. Fuzzy Syst. 20, 2593–2604 (2018). https://doi.org/10.1007/s40815-018-0522-3

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  • DOI: https://doi.org/10.1007/s40815-018-0522-3

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