Adaptive Fuzzy Output Regulation for Unmanned Surface Vehicles with Prescribed Performance

Shaobao Li, Tingting Ma, Xiaoyuan Luo, Zhenyu Yang

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

Resumé

Dynamics of an unmanned surface vehicle (USV) is usually hard to be modeled accurately due to system uncertainties and disturbances, which can significantly reduce system control performance. To guarantee a satisfied control performance under modeling uncertainties and disturbances, a novel control scheme combining adaptive fuzzy output regulation control and prescribed performance control is proposed in this paper. The unknown nonlinear dynamics of the USV is firstly approximated by a fuzzy logic system, and then an adaptive output regulation control law is developed using backstepping approach for the USV to track a reference system while rejecting disturbances and approximation errors induced by the fuzzy logic system. Meanwhile, the prescribed performance control technique is combined to the adaptive output regulation control design to reach a desired control performance in spite of the unknown system dynamics and disturbances. A simulation study is finally provided to demonstrate the effectiveness of the proposed approach.
OriginalsprogEngelsk
TidsskriftInternational Journal of Control, Automation and Systems
ISSN1598-6446
StatusE-pub ahead of print - sep. 2019

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Fuzzy logic
Backstepping
Unmanned surface vehicles
Dynamical systems
Control systems
Uncertainty

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title = "Adaptive Fuzzy Output Regulation for Unmanned Surface Vehicles with Prescribed Performance",
abstract = "Dynamics of an unmanned surface vehicle (USV) is usually hard to be modeled accurately due to system uncertainties and disturbances, which can significantly reduce system control performance. To guarantee a satisfied control performance under modeling uncertainties and disturbances, a novel control scheme combining adaptive fuzzy output regulation control and prescribed performance control is proposed in this paper. The unknown nonlinear dynamics of the USV is firstly approximated by a fuzzy logic system, and then an adaptive output regulation control law is developed using backstepping approach for the USV to track a reference system while rejecting disturbances and approximation errors induced by the fuzzy logic system. Meanwhile, the prescribed performance control technique is combined to the adaptive output regulation control design to reach a desired control performance in spite of the unknown system dynamics and disturbances. A simulation study is finally provided to demonstrate the effectiveness of the proposed approach.",
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Adaptive Fuzzy Output Regulation for Unmanned Surface Vehicles with Prescribed Performance. / Li, Shaobao; Ma, Tingting; Luo, Xiaoyuan; Yang, Zhenyu.

I: International Journal of Control, Automation and Systems, 09.2019.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

T1 - Adaptive Fuzzy Output Regulation for Unmanned Surface Vehicles with Prescribed Performance

AU - Li, Shaobao

AU - Ma, Tingting

AU - Luo, Xiaoyuan

AU - Yang, Zhenyu

PY - 2019/9

Y1 - 2019/9

N2 - Dynamics of an unmanned surface vehicle (USV) is usually hard to be modeled accurately due to system uncertainties and disturbances, which can significantly reduce system control performance. To guarantee a satisfied control performance under modeling uncertainties and disturbances, a novel control scheme combining adaptive fuzzy output regulation control and prescribed performance control is proposed in this paper. The unknown nonlinear dynamics of the USV is firstly approximated by a fuzzy logic system, and then an adaptive output regulation control law is developed using backstepping approach for the USV to track a reference system while rejecting disturbances and approximation errors induced by the fuzzy logic system. Meanwhile, the prescribed performance control technique is combined to the adaptive output regulation control design to reach a desired control performance in spite of the unknown system dynamics and disturbances. A simulation study is finally provided to demonstrate the effectiveness of the proposed approach.

AB - Dynamics of an unmanned surface vehicle (USV) is usually hard to be modeled accurately due to system uncertainties and disturbances, which can significantly reduce system control performance. To guarantee a satisfied control performance under modeling uncertainties and disturbances, a novel control scheme combining adaptive fuzzy output regulation control and prescribed performance control is proposed in this paper. The unknown nonlinear dynamics of the USV is firstly approximated by a fuzzy logic system, and then an adaptive output regulation control law is developed using backstepping approach for the USV to track a reference system while rejecting disturbances and approximation errors induced by the fuzzy logic system. Meanwhile, the prescribed performance control technique is combined to the adaptive output regulation control design to reach a desired control performance in spite of the unknown system dynamics and disturbances. A simulation study is finally provided to demonstrate the effectiveness of the proposed approach.

KW - Backstepping

KW - Fuzzy control

KW - Output regulation

KW - Prescribed performance

KW - Unmanned surface vehicle

M3 - Journal article

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

SN - 1598-6446

ER -