scholarly journals Observer-Based Autopilot Heading Finite-Time Control Design for Intelligent Ship with Prescribed Performance

2021 ◽  
Vol 9 (8) ◽  
pp. 828
Author(s):  
Liyan Zhu ◽  
Tieshan Li
Keyword(s):  
Finite Time ◽  
Traffic Engineering ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
State Observer ◽  
Performance Bounds ◽  
Prescribed Performance ◽  
Yaw Rate ◽  
Heading Control ◽  
Fuzzy State

Traffic engineering control is a major challenge in marine transportation. Cost efficiency and high performance demand advanced technologies for the ship control systems. This paper develops an autopilot heading control scheme based on a fuzzy state observer for an intelligent ship on this subject to track the prescribed function while calling for performance limitation and order execution time. A fuzzy logic system (FLS) is adopted to approximate the unknown uncertainties caused by the changes in water depth, wind, wave, ship loading, and speed in navigation. State observer is required to obtain unknown yaw rate. By adopting performance function and tracking error transformation techniques, the heading tracking error can converge to prescribed performance bounds. Taking settling time into account, the finite-time adaptive prescribed performance control algorithm can save more resources effectively. Based on the Lyapunov stability theory, the observer-based adaptive fuzzy control approach does not cause any unbounded signal, the system remains stable. Meanwhile, the autopilot heading control system with an unknown yaw rate and constraint state can benefit from the given design.

scholarly journals Finite-Time Adaptive Fuzzy Control for Nonlinear Systems with Unknown Backlash-Like Hysteresis

2021 ◽  
Author(s):  
Shuzhen Diao ◽  
Wei Sun ◽  
Le Wang ◽  
Jing Wu
Keyword(s):  
Fuzzy Control ◽  
Finite Time ◽  
Fuzzy Systems ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Finite Time Stability ◽  
Adaptive Fuzzy ◽  
Intermediate Variable ◽  
Control Scheme ◽  
Theoretical Results

AbstractThis study considers the tracking control problem of the nonstrict-feedback nonlinear system with unknown backlash-like hysteresis, and a finite-time adaptive fuzzy control scheme is developed to address this problem. More precisely, the fuzzy systems are employed to approximate the unknown nonlinearities, and the design difficulties caused by the nonlower triangular structure are also overcome by using the property of fuzzy systems. Besides, the effect of unknown hysteresis input is compensated by approximating an intermediate variable. With the aid of finite-time stability theory, the proposed control algorithm could guarantee that the tracking error converges to a smaller region. Finally, a simulation example is provided to further verify the above theoretical results.

scholarly journals Prescribed Performance Control of Marine Surface Vessel Trajectory Tracking in Finite-Time with Full-State Constraints and Input Saturation

2021 ◽  
Vol 9 (8) ◽  
pp. 866
Author(s):  
Xiyun Jiang ◽  
Yuanhui Wang
Keyword(s):  
Finite Time ◽  
State Constraints ◽  
Tracking Error ◽  
Input Saturation ◽  
Prescribed Performance ◽  
Full State ◽  
Marine Surface ◽  
Surface Vessel ◽  
Full State Constraints ◽  
Function Matrix

This manuscript mainly solves a fully actuated marine surface vessel prescribed performance trajectory tracking control problem with full-state constraints and input saturation. The entire control design process is based on a backstepping technique. The prescribed performance control is introduced to embody the analytical relationship between the transient performance and steady-state performance of the system and the parameters. Meanwhile, a new finite time performance function is introduced to ensure that the performance of the system tracking error is constrained within the preset constraints in finite time, and the full-state constraints problem of the system can be solved simultaneously in the entire control design, at the same time without introducing additional theory and parameters. To solve the non-smooth input saturation function matrix is not differentiable, the smooth function matrix is introduced to replace the non-smooth characteristics. Combining the Moore-Penrose generalized inverse matrix to design the virtual control law, the dynamic surface control is introduced to avoid the complicated virtual control derivation process, and finally the actual control law is designed using the properties of Nussbaum function. In addition, in view of the uncertainties in the system, a fractional disturbance observer is designed to estimate it. With the proposed control, the full-state will never be violated constraints, and the system tracking error satisfies transient and steady-state performance. Compared with other methods, the simulation results show the effectiveness and advantages of the proposed method.

scholarly journals Prescribed Performance Fuzzy Adaptive Output-Feedback Control for Nonlinear Stochastic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Lili Zhang ◽  
Shuai Sui ◽  
Shaocheng Tong
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Stochastic Systems ◽  
Output Feedback Control ◽  
Performance Bounds ◽  
Nonlinear Stochastic Systems ◽  
Prescribed Performance ◽  
Adaptive Output Feedback Control ◽  
Fuzzy State ◽  
Fuzzy Adaptive

A prescribed performance fuzzy adaptive output-feedback control approach is proposed for a class of single-input and single-output nonlinear stochastic systems with unmeasured states. Fuzzy logic systems are used to identify the unknown nonlinear system, and a fuzzy state observer is designed for estimating the unmeasured states. Based on the backstepping recursive design technique and the predefined performance technique, a new fuzzy adaptive output-feedback control method is developed. It is shown that all the signals of the resulting closed-loop system are bounded in probability and the tracking error remains an adjustable neighborhood of the origin with the prescribed performance bounds. A simulation example is provided to show the effectiveness of the proposed approach.

Finite-time prescribed performance adaptive fuzzy control for unknown nonlinear systems

2021 ◽  
Vol 402 ◽  
pp. 16-34
Author(s):  
Tianyue Zhou ◽  
Cungen Liu ◽  
Xiaoping Liu ◽  
Huanqing Wang ◽  
Yucheng Zhou
Keyword(s):  
Nonlinear Systems ◽  
Fuzzy Control ◽  
Finite Time ◽  
Adaptive Fuzzy Control ◽  
Prescribed Performance ◽  
Adaptive Fuzzy

scholarly journals Prescribed-performance based finite-time adaptive fuzzy control for PV inverter in islanded systems

2021 ◽  
Vol 133 ◽  
pp. 107254
Author(s):  
Yuchen Dai ◽  
Liyan Zhang ◽  
Guofu Liu ◽  
Chengshun Yang ◽  
Dongdong Zhang ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Finite Time ◽  
Adaptive Fuzzy Control ◽  
Prescribed Performance ◽  
Adaptive Fuzzy ◽  
Pv Inverter

scholarly journals Adaptive Fuzzy Fast Finite-Time Tracking Control for Nonlinear Systems in Pure-Feedback Form with Unknown Disturbance

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Ke Xu ◽  
Huanqing Wang ◽  
Xiaoping Liu ◽  
Ming Chen
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Small Neighborhood ◽  
Mean Value Theorem ◽  
Feedback Form ◽  
Adaptive Fuzzy ◽  
Unknown Disturbance

In this paper, based on the fast finite-time stability theorem, an adaptive fuzzy control problem is considered for a class of nonlinear systems in pure-feedback form with unknown disturbance. In the controller design process, the mean value theorem is applied to address the nonaffine structure of the pure-feedback plant, the universal approximation capability of the fuzzy logic system (FLS) is utilized to compensate the unknown uncertainties, and the adaptive backstepping technique is used to design the controller model. Combined with the selection of the appropriate Lyapunov function at each step, a fuzzy-based adaptive tracking control scheme is proposed, which ensures that all signals in the closed-loop system are bounded and tracking error converges to a small neighborhood of the origin in fast finite-time. Finally, simulation results illustrate the validity of the proposed approach.

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