期刊
JOURNAL OF MARINE SCIENCE AND ENGINEERING
卷 9, 期 8, 页码 -出版社
MDPI
DOI: 10.3390/jmse9080828
关键词
adaptive fuzzy control; autopilot; finite-time control; prescribed performance; state observer
资金
- National Natural Science Foundation of China [51939001, 61976033]
- Science and Technology Innovation Funds of Dalian [2018J11CY022]
- Liaoning Revitalization Talents Program [XLYC1908018]
- Natural Science Foundation of Liaoning [2019-ZD-0151]
- Fundamental Research Funds for the Central Universities [3132019345]
This paper develops an autopilot heading control scheme based on a fuzzy state observer to track the prescribed function while approximating unknown uncertainties and obtaining unknown yaw rate. By utilizing performance function and tracking error transformation techniques, the heading tracking error can converge to prescribed performance bounds, saving more resources effectively.
Traffic engineering control is a major challenge in marine transportation. Cost efficiency and high performance demand advanced technologies for the ship control systems. This paper develops an autopilot heading control scheme based on a fuzzy state observer for an intelligent ship on this subject to track the prescribed function while calling for performance limitation and order execution time. A fuzzy logic system (FLS) is adopted to approximate the unknown uncertainties caused by the changes in water depth, wind, wave, ship loading, and speed in navigation. State observer is required to obtain unknown yaw rate. By adopting performance function and tracking error transformation techniques, the heading tracking error can converge to prescribed performance bounds. Taking settling time into account, the finite-time adaptive prescribed performance control algorithm can save more resources effectively. Based on the Lyapunov stability theory, the observer-based adaptive fuzzy control approach does not cause any unbounded signal, the system remains stable. Meanwhile, the autopilot heading control system with an unknown yaw rate and constraint state can benefit from the given design.
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