This work provides an adaptive trajectory tracking control scheme for the unmanned surface vessel. The adaptive tracking control scheme builds on incorporating the fuzzy logic systems with the adaptive backstepping technique. By employing fuzzy logic systems as the approximations of ship dynamic uncertain term, the fuzzy trajectory tracking controller does not require the a priori knowledge of ship motion model dynamics. Furthermore, by using the adaptive backstepping control design, the trajectory tracking control law is derived to force the ships position and heading to track the reference trajectory. The effectiveness of the adaptive fuzzy control strategy is verified by simulation study based on a supply ship.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive Fuzzy Trajectory Tracking Controller Design for Unmanned Surface Vessels


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Jia, Yingmin (editor) / Zhang, Weicun (editor) / Fu, Yongling (editor) / Yu, Zhiyuan (editor) / Zheng, Song (editor) / Zhou, Ying (author) / Hu, Xin (author) / Wei, Xinjiang (author) / Yu, Ziwen (author) / Hou, Peicheng (author)


    Publication date :

    2021-10-06


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English