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首页> 外文期刊>Applied Ocean Research >Adaptive fuzzy output feedback stabilization control for the underactuated surface vessel
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Adaptive fuzzy output feedback stabilization control for the underactuated surface vessel

机译：废除表面容器的自适应模糊输出反馈稳定控制

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This paper designs an adaptive fuzzy stabilization controller for the underactuated surface vessel in the presence of unknown time varying environment disturbances and input saturation. By combining adaptive fuzzy system and auxiliary dynamic function, a stabilization control scheme is developed via vectorial backstepping technique and Lyapunov direct method. To begin with, based on the diffeomorphism equivalent transformation, the stabilization problem of underactuated surface vessel can be transformed into the stabilization analysis of two subsystem. Further, the adaptive fuzzy system is employed to approximate the uncertain term induced by the unknown time varying environment disturbances in the control law. In particularly, an auxiliary dynamic function is exploited to deal with the input saturation. It is proved that the proposed adaptive fuzzy output feedback controller can stabilize the vessel to desired equilibrium origin, while guaranteeing the uniform ultimate boundedness of all closed loop signals in the underactuated system. Finally, simulation results are given to demonstrate the effectiveness of the proposed control approach. (C) 2018 Elsevier Ltd. All rights reserved.
机译：本文在未知的时间变化环境干扰和输入饱和情况下，设计了用于废气表面容器的自适应模糊稳定控制器。通过组合自适应模糊系统和辅助动态功能，通过vrieveSial BackStepping技术和Lyapunov直接方法开发稳定控制方案。首先，基于扩散量转换，可以将废隔表面容器的稳定问题转化为两个子系统的稳定分析。此外，采用自适应模糊系统来近似于控制法中未知时间变化环境干扰所引起的不确定术语。特别地，利用辅助动态函数来处理输入饱和度。事实证明，所提出的自适应模糊输出反馈控制器可以稳定血管到所需的平衡来源，同时保证了欠扰动系统中所有闭环信号的均匀终极界限。最后，给出了仿真结果证明了所提出的控制方法的有效性。 （c）2018年elestvier有限公司保留所有权利。

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