A robust fuzzy speed regulator for unmanned sailboat robot via the composite ILOS guidance

This note deals with the waypoints-based path following control problem for the unmanned sailboat robot (USR), aiming to obtain the speed controllable performance and tackle with the constraints of the unknown environment disturbances and the model uncertainties. For this purpose, the composite integral line-of-sight guidance principle is targetedly designed for the upwind, the downwind and the crosswind cases to generate the real time heading reference for the USR. For the control part, the robust fuzzy speed regulator and the heading controller are proposed by fusing the dynamic surface control and the robust fuzzy damping technique. The corresponding control inputs are the sail angle and the rudder angle, respectively. In the proposed scheme, the model unknown terms and the gain uncertainties are tackled, and there are only two adaptive parameters to be updated online. Especially, the speed controllable performance of USR is significant and meaningful for the practical path following mission. That can guarantee or enhance the stabilization of the closed-loop control system. Sufficient effort has been made to guarantee the semi-global uniform ultimate bounded stability via the Lyapunov theory. Through simulation verification, the proposed approach can obtain the satisfied heading tracking accuracy and speed regulating performance.

Automated summary

This note presents a solution to the waypoints-based path following control problem for unmanned sailboat robots. It proposes a composite integral line-of-sight guidance principle and a robust fuzzy speed regulator, ensuring stability through Lyapunov theory.