Title: State observer-based adaptive fuzzy backstepping point stabilisation control of underactuated unmanned surface vehicles with input constraints

Authors: Weixiang Zhou; Pingfang Zhou; Zheng Chen; Dengping Duan

Addresses: College Of Information Engineering, Shanghai Maritime University, Shanghai, 201306, China ' School of Aeronautics and Astronautics, Shaghai Jiao Tong University, Shanghai, 200240, China ' School of Aeronautics and Astronautics, Shaghai Jiao Tong University, Shanghai, 200240, China ' School of Aeronautics and Astronautics, Shaghai Jiao Tong University, Shanghai, 200240, China

Abstract: In this study, the point stabilisation control of an underactuated unmanned surface vehicle (USV) is addressed considering input constraints, missing velocity measurement and external disturbance. Different from other methods, in this proposed control framework, the point stabilisation is transformed into a straight line path-following problem. Then a state observer-based adaptive fuzzy backstepping controller is designed. The missing velocity variables are estimated by an extended state observer (ESO). An adaptive fuzzy algorithm is used to approximate the unknown nonlinear items in the dynamics model of the vehicle, and auxiliary items are introduced to deal with the actuator saturations. The system stability is proved by using Lyapunov theory, and the effectiveness of the proposed approach is demonstrated by the simulation results.

Keywords: point stabilisation; underactuated unmanned surface vehicle; state observer; adaptive fuzzy method; backstepping control; input constraints.

DOI: 10.1504/IJVD.2020.115848

International Journal of Vehicle Design, 2020 Vol.84 No.1/2/3/4, pp.162 - 179

Received: 09 Nov 2019
Accepted: 03 May 2020
Published online: 25 Jun 2021 *

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