%0 Journal Article
%T Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels<br>欠驱动船舶航迹Backstepping自适应模糊控制
%A PAN Yong-ping
%A HUANG Dao-ping
%A SUN Zong-hai
%A <br>潘永平
%A 黄道平
%A 孙宗海
%J 控制理论与应用
%D 2011
%I 
%X A backstepping adaptive fuzzy controller is proposed for the linear track-keeping problem of underactuated surface vessels. Under the assumption that the fuzzy approximation error is unknown but bounded, it is proved that the closed-loop system is mean-square stable in the sense that all variables are uniformly ultimately bounded by the Lyapunov theorem. The proposed controller has the characteristics of intuitive design and simple structure with strong robustness under the parameter perturbation and external disturbance. Simulation experiments are carried out under the constraint conditions of the state variable and control input. The results demonstrate the effectiveness of the proposed approach.
%K linear track-keeping
%K strict-feedback nonlinear systems
%K Backstepping technique
%K adaptive fuzzy control
%K mean-square stability<br>直线航迹跟踪
%K 严格反馈非线性系统
%K Backstepping方法
%K 自适应模糊控制
%K 均方意义稳定性
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=B18D47477623D27614C29104ECCCBD19&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=DF92D298D3FF1E6E&sid=3382A18868551611&eid=FE68044BBD4BDA5F&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=24