Adaptive Sliding Mode Control Design for Nonlinear Unmanned Surface Vessel With Fuzzy Logic System and Disturbance-Observer

As a kind of marine electrical and mechanical equipment, Unmanned surface vessel(USV) has been widely used in various fields with its features of safety and workability. However, due to the existence of nonlinearities, modeling uncertainties and external disturbance, the good tracking performance of USV is difficult to be achieved. Nowadays, the most existing control design has been proposed based on the linearation of USV’s dynamic model, which is only suitable for the specific trajectory at the equilibrium point. Moreover, the overall effect of nonlinearities, modeling uncertainties and external disturbance are not been well considered. Therefore, an adaptive sliding mode control design for nonlinear USV with fuzzy logic system and disturbanceObserver is designed in this paper, where a disturbance-observer is designed to estimate the external disturbance caused by wind, wave and current, a fuzzy logic system is designed to estimate the modeling uncertainties cased by modeling error and parameter variations. Finally, the stability and effectiveness of proposed control design is guaranteed with the lyaponov stability theory and comparative simulation.

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