Fuzzy adaptive finite-time sliding mode controller for trajectory tracking of ship course systems with mismatched uncertainties
Document Type
Article
Publication Date
1-1-2022
Abstract
In this paper, a new finite-time robust controller is designed for the ship heading (course) control systems with unknown mismatched external disturbances and uncertainties to fulfil trajectory tracking task. The adaptive method is utilised to estimate the upper bound of these mismatched disturbances and uncertainties. Meanwhile, the fuzzy logic is employed to enhance the tracking performance. In short, the fuzzy controller, adaptive, finite-time stability concepts and sliding mode control (SMC) scheme have been incorporated to propose fuzzy adaptive finite-time SMC (FAFSMC) scheme to utilise their benefits and to compensate the shortages of applying them individually. The finite-time stability analysis is investigated by utilising the Lyapunov stability theory. The simulation results are carried out for the proposed fuzzy scheme and five other existing non-fuzzy schemes including simple, classical, cubic, hexagonal, and switching to reveal the effectiveness of the proposed scheme compared to the other five schemes. Copyright © 2022 Inderscience Enterprises Ltd.
Keywords
Adaptive control systems, Controllers, Fuzzy logic, Ships, Uncertainty analysis, Adaptive, Finite-time, Fuzzy, Fuzzy adaptive, Lyapunov, Mismatched uncertainty, Robust, Sliding-mode control, Trajectory-tracking, Sliding mode control
Divisions
sch_ecs
Funders
Ministry of Higher Education, Malaysia under Large Research Grant Scheme (LRGS), University of Malaya, Malaysia (Grant No: LR008-2019 (LRGS/1/2019/UKM/01/6/3) & IIRG011A-2019),Ministry of International Trade and Industry (MITI), Malaysia through MIDF under High sValue-Added and Complex Product Development and Market Program (Grant No: GA016-2019)
Publication Title
International Journal of Automation and Control
Volume
16
Issue
3-4
Publisher
Inderscience Publishers
Additional Information
Cited by: 3