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Event-Triggered Adaptive Fuzzy Setpoint Regulation of Surface Vessels With Unmeasured Velocities Under Thruster Saturation Constraints
School of Mathematics and Statistics Science, Ludong University, Yantai, Shandong 264025, China..
Marine College, Zhejiang Ocean University, Zhoushan 316022, China..
Hubei Key Laboratory of Inland Shipping Technology, School of Navigation, Wuhan University of Technology, Wuhan 430063, China..
Faculty of Mechanical Engineering, Opole University of Technology, 45-758 Opole, Poland..
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2022 (English)In: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 23, no 8, p. 13463-13472Article in journal (Refereed) Published
Abstract [en]

This article investigates the event-triggered adaptive fuzzy output feedback setpoint regulation control for the surface vessels. The vessel velocities are noisy and small in the setpoint regulation operation and the thrusters have saturation constraints. A high-gain filter is constructed to obtain the vessel velocity estimations from noisy position and heading. An auxiliary dynamic filter with control deviation as the input is adopted to reduce thruster saturation effects. The adaptive fuzzy logic systems approximate vessel's uncertain dynamics. The adaptive dynamic surface control is employed to derive the event-triggered adaptive fuzzy setpoint regulation control depending only on noisy position and heading measurements. By the virtue of the event-triggering, the vessel's thruster acting frequencies are reduced such that the thruster excessive wear is avoided. The computational burden is reduced due to the differentiation avoidance for virtual stabilizing functions required in the traditional backstepping. It is analyzed that the event-triggered adaptive fuzzy setpoint regulation control maintains position and heading at desired points and ensures the closed-loop semi-global stability. Both theoretical analyses and simulations with comparisons validate the effectiveness and the superiority of the control scheme. 

Place, publisher, year, edition, pages
IEEE, 2022. Vol. 23, no 8, p. 13463-13472
Keywords [en]
Attitude control, dynamic surface control, Dynamics, event-triggered control, Fuzzy logic, fuzzy logic system, Noise measurement, Output feedback, output feedback., Regulation, Sea surface, Surface vessel, Adaptive control systems, Backstepping, Computer circuits, Feedback, Fuzzy filters, Surface waters, Uncertainty analysis, Event-triggered controls, Fuzzy-Logic, Noise measurements, Output-feedback, Sea surfaces, Surface vessels
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:mau:diva-48596DOI: 10.1109/TITS.2021.3124635ISI: 000733543900001Scopus ID: 2-s2.0-85119420077OAI: oai:DiVA.org:mau-48596DiVA, id: diva2:1623382
Available from: 2021-12-29 Created: 2021-12-29 Last updated: 2023-04-05Bibliographically approved

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Malekian, Reza

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