In this article, a surge-heading guidance-based hyperbolic-tangent fixed-time path-following control (SHG-HFPC) scheme is developed for an autonomous underactuated ship (AUS) subject to arbitrary sideslip and uncertain internal dynamics. By constructing a virtually desired sideslip (VDS) angle, the surge-heading guidance laws are designed, which can collaboratively govern heading, surge and virtual ship velocity. The tangent nonlinearity of the VDS angle can be quickly and accurately estimated by a finite-time sideslip observer. Fuzzy logic systems are employed to approximate the uncertain nonlinear parts of the AUS. In lieu of the fractional power term in traditional fixed-time controller, the hyperbolic-tangent functions are introduced to avoid instability or oscillation caused by nonsmooth controllers. Theoretical analysis confirms that the entire SHG-HFPC scheme can drive the AUS to follow the desired path, as well as surge and heading errors can converge to a neighborhood close to the origin in a fixed time. Simulation results further corroborate the effectiveness and superiority of the proposed SHG-HFPC approach.
Adaptive Fuzzy Path Following for Autonomous Underactuated Ships: A Hyperbolic-Tangent Fixed-Time Control Approach
2024-09-24
578771 byte
Conference paper
Electronic Resource
English
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