Improved adaptive integral line-of-sight guidance law and adaptive fuzzy path following control for underactuated MSV. (November 2019)

• Record Type: Journal Article
• Authors: Nie, Jun; Lin, Xiaogong
• Is Part Of: ISA transactions. Volume 94(2019)
• Page Start: 151
• Page End: 163
• Publication Date: 2019-11
• Subjects: Underactuated MSV -- Path following -- IAILOS guidance law -- Fuzzy logic system -- TDs; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2019.04.010
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper presents an adaptive fuzzy path following control law based on an improved adaptive integral line-of-sight (IAILOS) guidance law for the underactuated marine surface vessel (MSV) exposed to the time-varying ocean currents and time-varying sideslip angle. Initially, the IAILOS guidance law is proposed which can not only calculate the desired yaw angle but also estimate the time-varying ocean currents and time-varying sideslip angle simultaneously. Furthermore, the adaptive fuzzy path following control law is established by combining with the estimator to cope with the MSV's attitude tracking control and velocity tracing control problem via backstepping technique. Specifically, the dynamic uncertainties and unknown environment disturbances are compensated by the fuzzy logic system with fuzzy updating law based on estimation error rather than tracking error. Additionally, two high-order tracking differentiators (TDs) are designed to construct derivatives of virtual control vector and reduce computational complexity inherent in backstepping method. It is proved that the proposed adaptive fuzzy path following control law can drive the vessel to track the desired path and tracking error can converge to an arbitrarily small compact set, while guaranteeing all signals in the closed-loop control system are uniformly ultimately bounded. Finally, simulation results and comparisons are carried out to demonstrate the effectiveness of the proposed control approach. Highlights: The underactuated marine surface vessel model was established and an adaptive fuzzy path following control law based on an improved adaptive integral line-of sight guidance law was designed. The improved adaptive integral line-of sight guidance law could deal with the time-varying sideslip angle and time-varying ocean currents simultaneously. The model uncertainties and external environment disturbances were approximated by the adaptive fuzzy system with estimator-based fuzzy updating law. The two high-order tracking differentiators were introduced into the adaptive fuzzy control law to solve the problem of computational complexity.