Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels
欠驱动船舶航迹Backstepping自适应模糊控制

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.