Title: Fuzzy adaptive finite-time sliding mode controller for trajectory tracking of ship course systems with mismatched uncertainties

Authors: Pooyan Alinaghi Hosseinabadi; Ali Soltani Sharif Abadi; Saad Mekhilef

Addresses: School of Engineering and Information Technology, The University of New South Wales, Canberra, Australian Capital Territory, Australia ' The Institute of Automatic Control and Robotics, Faculty of Mechatronics, Warsaw University of Technology, Warsaw, Poland ' Power Electronics and Renewable Energy Research Laboratory, Department of Electrical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur, 50603, Malaysia; School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC, Australia; Center of Research Excellence in Renewable Energy and Power Systems, King Abdulaziz University, Jeddah 21589, Saudi Arabia

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.

Keywords: fuzzy; sliding mode control; SMC; finite-time; adaptive; robust; Lyapunov.

DOI: 10.1504/IJAAC.2022.122596

International Journal of Automation and Control, 2022 Vol.16 No.3/4, pp.255 - 271

Received: 22 Apr 2020
Accepted: 19 Jun 2020
Published online: 04 May 2022 *

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