Nonlinear Adaptive Fuzzy Robust Guidance Law Design of Autonomous Marine Surface Vessels

Abstract

A multi-input and multi-output nonlinear adaptive fuzzy robust guidance law is proposed for the trajectory tracking problems of an autonomous marine surface vessel with time-varying modeling uncertainties and unknown random environmental disturbances For solving the issues of modeling uncertainties and effects of environmental disturbances this proposed guidance law for multi-input multi-output nonlinear system integrates two adaptive fuzzy approximators and one robust compensator to adaptively identify the autonomous marine surface vessel’s actual model and robustly mitigate the environmental disturbances and approximation errors simultaneously in order to achieve the accurate trajectory tracking performances From the simulation results this proposed control design reveals virtues of adaptability robustness and fault tolerance to autonomous marine surface vessels

Date of Award	2020
Original language	English
Supervisor	Yung-Yu Chen (Supervisor)