期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 24, 期 5, 页码 1845-1852出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2015.2510587
关键词
Direct adaptive fuzzy control; fully unknown dynamics; marine vehicle; trajectory tracking
资金
- National Natural Science Foundation of China [51009017, 51379002]
- Applied Basic Research Funds within the Ministry of Transport, China [2012-329-225-060]
- China Post-Doctoral Science Foundation [2012M520629]
- Program for Liaoning Excellent Talents in University [LJQ2013055]
- Fundamental Research Funds for the Central Universities, China [2009QN025, 2011JC002, 3132013025]
In this brief, a novel direct adaptive fuzzy tracking control (DAFTC) scheme for marine vehicles with fully unknown parametric dynamics and uncertainties is proposed. The significant contributions of the DAFTC approach are as follows. First, in the backstepping framework, fully unknown parametric dynamics and uncertainties are encapsulated into a lumped nonlinearity function encompassing system states and virtual control signals. Second, the integrated nonlinearity function is further identified online by an adaptive fuzzy approximator that synthesizes a model-free control scheme (termed DAFTC) without requiring any a priori knowledge of the model. Third, tracking errors are proven to be uniformly ultimately bounded (UUB) and can converge to an arbitrarily small neighborhood of zero in a finite time. Simulation studies and comprehensive comparisons demonstrate that the proposed DAFTC scheme has remarkable performance and is superior in both tracking accuracy and unknown parametric dynamics compensation.
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