Title :
A novel adaptive fuzzy autopilot design based on DSC
Author :
Sun, Hongying ; Yu, Fengwei ; He, Faming ; Sheng, Jinlu
Author_Institution :
Qingdao Ocean Shipping Mariners Coll., Qingdao, China
Abstract :
This paper develops an adaptive fuzzy course controller with rudder dynamics. The ship model is described by a third order nonlinear model with unknown parameters and unknown virtual control gain function. The Takagi-Sugeno (T-S) type fuzzy systems are used to approximate unknown system functions and a systematic design procedure is developed by combining dynamic surface control (DSC) technique. With only one learning parameter and reduced computation load, the proposed algorithm can avoid both problem of "explosion of complexity" in the conventional backstepping method and singularity problem. In addition, the boundedness stability of the closed-loop system is guaranteed and tracking error can be made arbitrary small. The effectiveness of the presented autopilot has been demonstrated in the simulation.
Keywords :
adaptive control; closed loop systems; fuzzy control; fuzzy systems; robust control; ships; DSC; Takagi-Sugeno type fuzzy systems; adaptive fuzzy autopilot design; adaptive fuzzy course controller; backstepping method; boundedness stability; closed-loop system; complexity explosion; dynamic surface control technique; rudder dynamics; ship model; singularity problem; third order nonlinear model; virtual control gain function; Adaptation models; Backstepping; Computational modeling; Fuzzy systems; Load modeling; Marine vehicles; Robustness; Takagi-Sugeno (T-S); autopilot; backstepping; dynamic surface control (DSC); parametric uncertainty;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2011 International Conference on
Conference_Location :
Yichang
Print_ISBN :
978-1-4244-8162-0
DOI :
10.1109/ICECENG.2011.6057307