ITSC 2024 Paper Abstract

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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

Keywords Theory and Models for Optimization and Control, Aerial, Marine and Surface Intelligent Vehicles

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.

 

 

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