Journal
OCEAN ENGINEERING
Volume 219, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2020.107956
Keywords
Finite-time function; Prescribed tracking performance; High-gain observer; Fuzzy logic system; Dynamic positioning ship
Funding
- National Natural Science Foundation of China [51879049]
- Natural Science Foundation of Heilongjiang Province, China [LH2019E039]
- Fundamental Research Funds for the Central Universities, China [3072019CFT0404]
- China Scholarship Council, China
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This paper proposes a novel adaptive fuzzy controller to address the trajectory tracking control problem of dynamic positioning ship, by incorporating a high-gain observer and a special finite-time performance function to ensure tracking errors within specified ranges.
This paper investigates the trajectory tracking control problem of dynamic positioning ship subject to modeling uncertainties, environment disturbances, and unmeasurable velocity. A novel adaptive fuzzy controller is designed to address this challenging problem, by incorporating the prescribed performance control technique and adaptive fuzzy backstepping control method. Specifically, a high-gain observer is constructed to estimate the unmeasurable velocity vector. Then, a special finite-time performance function is introduced to impose performance specifications in advance on the output tracking errors according to the mission requirements (in terms of mission completion time, maximum permitted overshoot, tracking accuracy). Subsequently, through introducing error transformation functions, the tracking control problem with guaranteed transient performance is transformed to the output constrained control problem. In view of this, an asymmetric barrier Lyapunov function is designed to ensure that the transformed errors remain within specified ranges. By virtue of Lyapunov theory, it is shown that all the closed-loop signals are uniformly ultimately bounded and the tracking errors strictly comply with the prescribed performance envelops, despite the presence of modeling uncertainties, environmental disturbances and unmeasurable velocity. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed method.
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