This paper focuses on the development of an adaptive backstepping control for underactuated marine vehicles. In order to estimate system uncertainty, a fuzzy system with a simple structure is utilized. A novel dynamical formulation has been developed for deriving the control signal. The Lyapunov function has been employed to formally prove the Semi-globally Practically Finite-time Stability of the overall closed loop system. Simulations are conducted on an underactuated marine vehicle to assess the effectiveness of the proposed control approach. These simulations consider various challenging scenarios, including external disturbances, unmodeled dynamics, time-varying water currents, and lateral velocities. Furthermore, a comparison analysis is performed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles


    Additional title:

    Lect. Notes in Networks, Syst.


    Contributors:

    Conference:

    Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023



    Publication date :

    2024-04-27


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles

    Nazmara, G. Reza / Aguiar, A. Pedro | TIBKAT | 2024


    Control of Underactuated Marine Vehicles

    von Ellenrieder, Karl Dietrich | Springer Verlag | 2021


    Adaptive Output Feedback Control of Underactuated Marine Surface Vehicles Under Input Saturation

    Zeng, Daohui / Cai, Chengtao / Liu, Yongchao et al. | IEEE | 2025



    Robust and adaptive path following for underactuated autonomous underwater vehicles

    Do, K. Duc / Pan, J. / Jiang, Z.P. | Tema Archive | 2004