Adaptive Fuzzy Control for Path Tracking of Underactuated Ships Based on Dynamic Equilibrium State Theory

DOI

10.2991/ijcis.2011.4.6.6How to use a DOI?

Keywords

Underactuated ships, dynamic equilibrium state (DES), backstepping, fuzzy logic systems.

Abstract

This paper presents an adaptive fuzzy backstepping control method that incorporates the dynamic equilibrium state (DES) theory to carry out path tracking for underactuated ships in presence of parameter variations and external disturbances induced by wind, wave and current. First, the optimal DES reference trajectories are designed for the sway displacement and the yaw angle. Then, by combining the DES theory with backstepping technology and using fuzzy logic systems to approximate unknown nonlinear functions in the system, a robust adaptive fuzzy controller is designed to track the prescribed trajectories. Theoretical analysis and simulation results show that the proposed method performs path tracking of underactuated ships with high precision, eliminates the influence of the uncertainties, and guarantees global stability and robustness of the system.

Copyright

© 2011, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Dehui Qiu
AU  - Qinglin Wang
AU  - Jie Yang
AU  - Jinhua She
PY  - 2011
DA  - 2011/12/01
TI  - Adaptive Fuzzy Control for Path Tracking of Underactuated Ships Based on Dynamic Equilibrium State Theory
JO  - International Journal of Computational Intelligence Systems
SP  - 1148
EP  - 1157
VL  - 4
IS  - 6
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.2011.4.6.6
DO  - 10.2991/ijcis.2011.4.6.6
ID  - Qiu2011
ER  -