TY - JOUR
T1 - A predictive type-3 fuzzy control for underactuated surface vehicles
AU - Taghieh, Amin
AU - Zhang, Chunwei
AU - Alattas, Khalid A.
AU - Bouteraa, Yassine
AU - Rathinasamy, Sakthivel
AU - Mohammadzadeh, Ardashir
N1 - Publisher Copyright:
© 2022 Elsevier Ltd
PY - 2022/12/15
Y1 - 2022/12/15
N2 - In this paper, a path-following control (PFC) problem of an underactuated surface vehicle (USV) is scrutinized based on an interval type-3 fuzzy logic system (IT3FLS). The suggested method is able to tackle the main limitations of the singleton fuzzy controller in terms of the approximation ability for uncertainties and exogenous disturbances of a complex nonlinear USV. Since a novel structure is employed for the FLS, the control policy is capable of ensuring robust performance against uncertainties with a wide range of variations and higher volumes of complex disturbances. Moreover, surge-guided line-of-sight (SGLOS) and auxiliary dynamics are utilized to design surge and heading control policies, adjusting the velocity of a vehicle and its position at each moment respective to the predefined path. Predictive compensators are designed to enhance the robustness by reducing the approximation error signals while the stability analysis of both tracking and approximation error signals are investigated based on the Lyapunov approach and Barbalat's lemma. Finally, simulation results demonstrate the effectiveness of the suggested improved fuzzy-based control strategy to solve a PFC problem.
AB - In this paper, a path-following control (PFC) problem of an underactuated surface vehicle (USV) is scrutinized based on an interval type-3 fuzzy logic system (IT3FLS). The suggested method is able to tackle the main limitations of the singleton fuzzy controller in terms of the approximation ability for uncertainties and exogenous disturbances of a complex nonlinear USV. Since a novel structure is employed for the FLS, the control policy is capable of ensuring robust performance against uncertainties with a wide range of variations and higher volumes of complex disturbances. Moreover, surge-guided line-of-sight (SGLOS) and auxiliary dynamics are utilized to design surge and heading control policies, adjusting the velocity of a vehicle and its position at each moment respective to the predefined path. Predictive compensators are designed to enhance the robustness by reducing the approximation error signals while the stability analysis of both tracking and approximation error signals are investigated based on the Lyapunov approach and Barbalat's lemma. Finally, simulation results demonstrate the effectiveness of the suggested improved fuzzy-based control strategy to solve a PFC problem.
KW - Interval type-3 fuzzy
KW - Path-following control
KW - Surge and heading control
KW - Underactuated surface vehicle
KW - Unknown uncertainties and disturbances
UR - http://www.scopus.com/inward/record.url?scp=85141775729&partnerID=8YFLogxK
U2 - 10.1016/j.oceaneng.2022.113014
DO - 10.1016/j.oceaneng.2022.113014
M3 - Article
AN - SCOPUS:85141775729
SN - 0029-8018
VL - 266
JO - Ocean Engineering
JF - Ocean Engineering
M1 - 113014
ER -