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Observer-Based Adaptive Fuzzy Control for Intelligent Ship Autopilot with Input Saturation

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Abstract

In this paper, the design problem of intelligent ship autopilot with unmeasured yaw rate and input saturation is investigated based on adaptive fuzzy control. First, an adaptive fuzzy output feedback controller is proposed, then, to improve the convergence speed of the tracking error in the sense of finite time, a finite-time adaptive fuzzy output feedback controller is also designed to improve the control performance. By employing fuzzy logic system (FLS) to estimate the unknown nonlinear function, an adaptive fuzzy state observer is designed to estimate the unmeasured state. An adaptation auxiliary signal for input saturation is also established to compensate the mismatch between the controller signal and the actuator signal. Combining state observer model with backstepping method, two different adaptive fuzzy output-feedback controllers with composite parameter adaptive laws are constructed, respectively. Based on Lyapunov theory, it is proved that all signals in the closed-loop systems are bounded. Finally, the simulation results are conducted to demonstrate the effectiveness of the proposed schemes.

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Acknowledgment

This work is supported in part by the National Natural Science Foundation of China (under Grant Nos. 51939001, 61976033, U1813203, 61803064, 61751202, 61903092); the Science and Technology Innovation Funds of Dalian (under Grant No. 2018J11CY022); the Liaoning Revitalization Talents Program (under Grant Nos. XLYC1908018, XLYC1807046); the Natural Foundation Guidance Plan Project of Liaoning (2019-ZD-0151); the Fundamental Research Funds for the Central Universities (under Grant No. 3132019345); the Natural Science Foundation of Liaoning Province under Grant 20170540098.

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Authors and Affiliations

  1. Navigation College, Dalian Maritime University, Dalian, Liaoning, 116026, People’s Republic of China

    Liyan Zhu, Tieshan Li, Renhai Yu, Yue Wu & Jun Ning

  2. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, People’s Republic of China

    Tieshan Li

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  1. Liyan Zhu
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  2. Tieshan Li
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  3. Renhai Yu
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  4. Yue Wu
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  5. Jun Ning
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Correspondence to Tieshan Li.

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Zhu, L., Li, T., Yu, R. et al. Observer-Based Adaptive Fuzzy Control for Intelligent Ship Autopilot with Input Saturation. Int. J. Fuzzy Syst. 22, 1416–1429 (2020). https://doi.org/10.1007/s40815-020-00880-3

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  • DOI: https://doi.org/10.1007/s40815-020-00880-3

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