Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances
Joint Authors
Wang, Guofeng
Mu, Dongdong
Fan, Yunsheng
Zhao, Yongsheng
Bai, Yiming
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-02-19
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper investigates the path following control problem for an underactuated unmanned surface vehicle (USV) in the presence of dynamical uncertainties and time-varying external disturbances.
Based on fuzzy optimization algorithm, an improved adaptive line-of-sight (ALOS) guidance law is proposed, which is suitable for straight-line and curve paths.
On the basis of guidance information provided by LOS, a three-degree-of-freedom (DOF) dynamic model of an underactuated USV has been used to design a practical path following controller.
The controller is designed by combining backstepping method, neural shunting model, neural network minimum parameter learning method, and Nussbaum function.
Neural shunting model is used to solve the problem of “explosion of complexity,” which is an inherent illness of backstepping algorithm.
Meanwhile, a simpler neural network minimum parameter learning method than multilayer neural network is employed to identify the uncertainties and time-varying external disturbances.
In particular, Nussbaum function is introduced into the controller design to solve the problem of unknown control gain coefficient.
And much effort is made to obtain the stability for the closed-loop control system, using the Lyapunov stability theory.
Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.
American Psychological Association (APA)
Mu, Dongdong& Wang, Guofeng& Fan, Yunsheng& Bai, Yiming& Zhao, Yongsheng. 2018. Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1208920
Modern Language Association (MLA)
Mu, Dongdong…[et al.]. Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances. Mathematical Problems in Engineering No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1208920
American Medical Association (AMA)
Mu, Dongdong& Wang, Guofeng& Fan, Yunsheng& Bai, Yiming& Zhao, Yongsheng. Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1208920
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1208920