NDLI: Adaptive fuzzy control for a marine vessel with time-varying constraints

Content Provider	IET Digital Library
Author	Kong, Linghuan He, Wei Yang, Chenguang Li, Guang Zhang, Zhengqiang
Abstract	An adaptive fuzzy neural network (FNN) control scheme is proposed for a marine vessel with time-varying constraints, guaranteed transient response and unknown dynamics. A series of continuous constraint functions are introduced to shape the motion of a marine vessel. To deal with the constraint problems and transient response problems, an asymmetric time-varying barrier Lyapunov function is designed to ensure that the system states are upper bounded by the considered constraint functions. FNNs are constructed to identify the unknown dynamics. Considering existing approximation errors when FNNs approximating the unknown dynamics, an adaptive term is designed to compensate the approximation errors in order to obtain accurate control. Via Lyapunov stability theory, it has been proved that all the states in the closed-loop system are uniformly bounded ultimately without violating the corresponding prescribed constraint region. Two comparative simulations are carried out to verify the effectiveness of the proposed control.
Starting Page	1448
Ending Page	1455
Page Count	8
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 10, Jul (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.0757
Journal	IET Control Theory & Applications
Publisher Date	2018-03-15
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Fuzzy Control Adaptive Fuzzy Neural Network Control Scheme Adaptive Term Approximation Error Approximation Theory Asymmetric Time-varying Barrier Lyapunov Function Closed Loop System Closed-loop System Constraint Function Constraint Problem Continuous Constraint Function Control System Analysis Control System Synthesis FNN Fuzzy Control Fuzzy Neural Nets Guaranteed Transient Response Interpolation And Function Approximation Lyapunov Method Lyapunov Stability Theorem Marine System Control Marine Vehicle Marine Vessel Neurocontrol Neurocontrollers Numerical Analysis Prescribed Constraint Region Self Adjusting Control System Stability Stability in Control Theory Synthesis Method System State Time Varying Control System Time Varying System Time-varying Constraint Transient Response Transient Response Problem Unknown Dynamics
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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