期刊
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
卷 23, 期 8, 页码 13463-13472出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2021.3124635
关键词
Attitude control; Regulation; Dynamics; Sea surface; Noise measurement; Fuzzy logic; Output feedback; Surface vessel; event-triggered control; fuzzy logic system; dynamic surface control; output feedback
资金
- National Science Foundation of China [52022073, 61903174, 62073251]
- Natural Science Foundation of Zhejiang Province [LY21E090005]
- Excellent Youth Foundation of Hubei Scientific Committee [2020CFA055]
- High Level Talents Cultivation Project in Transport Industry [2019-011]
- Natural Science Foundation of Shandong Province [ZR2019PF006]
- Hubei Key Laboratory of Inland Shipping Technology [NHHY2020004]
- Narodowego Centrum Nauki, Poland [2020/37/K/ST8/02748]
This article investigates the event-triggered adaptive fuzzy output feedback setpoint regulation control for surface vessels. The control scheme effectively maintains the position and heading of the vessels at desired points in the setpoint regulation operation, ensuring closed-loop semi-global stability.
This article investigates the event-triggered adaptive fuzzy output feedback setpoint regulation control for the surface vessels. The vessel velocities are noisy and small in the setpoint regulation operation and the thrusters have saturation constraints. A high-gain filter is constructed to obtain the vessel velocity estimations from noisy position and heading. An auxiliary dynamic filter with control deviation as the input is adopted to reduce thruster saturation effects. The adaptive fuzzy logic systems approximate vessel's uncertain dynamics. The adaptive dynamic surface control is employed to derive the event-triggered adaptive fuzzy setpoint regulation control depending only on noisy position and heading measurements. By the virtue of the event-triggering, the vessel's thruster acting frequencies are reduced such that the thruster excessive wear is avoided. The computational burden is reduced due to the differentiation avoidance for virtual stabilizing functions required in the traditional backstepping. It is analyzed that the event-triggered adaptive fuzzy setpoint regulation control maintains position and heading at desired points and ensures the closed-loop semi-global stability. Both theoretical analyses and simulations with comparisons validate the effectiveness and the superiority of the control scheme.
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