Journal
IEEE TRANSACTIONS ON FUZZY SYSTEMS
Volume 29, Issue 12, Pages 3822-3832Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TFUZZ.2020.3028907
Keywords
Actuators; Fuzzy logic; Collision avoidance; Marine vehicles; Observers; Engines; Event-triggered control; fuzzy logic state observer (FLSO); International Regulations for Preventing Collisions at Sea (COLREGs); logic virtual ship (LVS) guidance; path following control
Funding
- National Science Foundation of China [51909018, 51679024]
- Natural Science Foundation of Liaoning Province [20170520189, 20180520039]
- Science and Technology Innovation Foundation of Dalian City [2019J12GX026]
- Fundamental Research Funds for the Central Universities [3132020124, 3132019306]
- National Postdoctoral Program for Innovative Talents [BX201600103]
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This article presents an adaptive fuzzy event-triggered control approach for underactuated surface vessels (USVs) to achieve path following and collision avoidance. By utilizing an improved virtual ship guidance principle to generate real-time reference signals and designing an adaptive fuzzy event-triggered law to control USVs to converge to the desired path, the effectiveness of the proposed control method is validated through simulations.
This article investigates the adaptive fuzzy event-triggered control for the underactuated surface vessels (USVs), considering constraints of the International Regulations for Preventing Collisions at Sea (COLREGs) and the actuator failures. The proposed scheme can be divided into the guidance module and the control module. An improved logic virtual ship guidance principle, considering the ship-to-ship collision avoidance, is developed to generate the real-time reference signal for USVs. The main characteristic of the guidance principle is to ensure USVs sailing in the path following mode and collision avoidance mode. Especially for the collision avoidance mode, the collision avoidance guidance is targetedly designed for three sailing situations (the head-on situation, the overtaking situation, and the crossing situation), which is consistent with the COLREGs. Furthermore, an adaptive fuzzy event-triggered law is designed to control the USVs to converge to the desired path. The model unknown terms and the basic fault of the actuator are identified by the fuzzy logic system, and the fuzzy logic state observer is designed to estimate the unmeasured states of the USVs. Unlike the existing results, the communication burden from the controller to the actuators is reduced for the merits of the input event-triggered rule. Through the Lyapunov theory, it is proved that all the signals of the closed-loop control system are the semiglobal uniform ultimate bounded. Finally, the simulated examples are provided to illustrate the validity of the proposed control approach.
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