International Journal of Computational Intelligence Systems

Volume 4, Issue 6, December 2011, Pages 1148 - 1157

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

Authors
Dehui Qiu, Qinglin Wang, Jie Yang, Jinhua She
Corresponding Author
Qinglin Wang
Received 20 August 2011, Accepted 25 November 2011, Available Online 1 December 2011.
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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Journal
International Journal of Computational Intelligence Systems
Volume-Issue
4 - 6
Pages
1148 - 1157
Publication Date
2011/12/01
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.2011.4.6.6How to use a DOI?
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/).

Cite this article

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  -