FAILOS guidance law based adaptive fuzzy finite-time path following control for underactuated MSV

摘要

An adaptive fuzzy finite-time path following control design is presented for the underactuated marine surface vessel (MSV) under the condition of the time-varying ocean currents and time-varying large sideslip angle in this paper. The proposed FAILOS guidance law can not only calculate the desired heading angle but also estimate time-varying ocean currents and time-varying large sideslip angle simultaneously. It is the first time that the fuzzy logic system is introduced into the guidance system of MSV's path following control problem. Then the adaptive fuzzy finite-time path following controllers are established via backstepping technique, and the unknown lumped disturbances are estimated by the adaptive fuzzy logic system. The new saturation compensators are adopted to handle the input saturation problem and meet with finite-time convergence requirement of the whole control system. It has been demonstrated that the proposed adaptive fuzzy finite-time path following controllers can drive the vessel to follow the predefined path and tracking error can converge to a small neighborhood around origin in finite time. Simulation studies and comparisons are carried out to demonstrate the validity of the proposed control approach.