Jia, Wei (Dalian Maritime University), Wang, Ning (Daliann Maritime University), Wu, Haojun (Dalian Maritime University)

Adaptive Fuzzy Path Following for Autonomous Underactuated Ships: A Hyperbolic-Tangent Fixed-Time Control Approach

Scheduled for presentation during the Regular Session "Vehicle control" (FrBT4), Friday, September 27, 2024, 14:50−15:10, Salon 7

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on October 7, 2024

Abstract

In this article, a surge-heading guidance-based hyperbolic-tangent fixed-time path-following control (SHG-HFPC) scheme is developed for an autonomous underactuated ship (AUS) subject to arbitrary sideslip and uncertain internal dynamics. By constructing a virtually desired sideslip (VDS) angle, the surge-heading guidance laws are designed, which can collaboratively govern heading, surge and virtual ship velocity. The tangent nonlinearity of the VDS angle can be quickly and accurately estimated by a finite-time sideslip observer. Fuzzy logic systems are employed to approximate the uncertain nonlinear parts of the AUS. In lieu of the fractional power term in traditional fixed-time controller, the hyperbolic-tangent functions are introduced to avoid instability or oscillation caused by nonsmooth controllers. Theoretical analysis confirms that the entire SHG-HFPC scheme can drive the AUS to follow the desired path, as well as surge and heading errors can converge to a neighborhood close to the origin in a fixed time. Simulation results further corroborate the effectiveness and superiority of the proposed SHG-HFPC approach.