Adaptive robust tracking control of surface vessels using dynamic constructive fuzzy neural networks

In this paper, an adaptive robust dynamic constructive fuzzy neural control (AR-DCFNC) scheme for trajectory tracking of a surface vehicle with uncertainties and unknown time-varying disturbances is proposed. System uncertainties and unknown dynamics are identified online by a dynamic constructive fuzzy neural network (DCFNN) which is implemented by employing dynamically constructive fuzzy rules according to the structure learning criteria. The entire AR-DCFNC system is globally asymptotical stable.