Adaptive fuzzy trajectory tracking control of unmanned surface vehicles with unknown dynamics

Abstract

In this paper, an adaptive fuzzy logic control scheme with backstepping for tracking unmanned surface vehicles (USV) in the framework of uncertain strict-feedback nonlinear system with unknown dynamics and external disturbances is proposed. Fuzzy logic system is used for approximating the nonlinear function including unknown dynamics and external disturbances, and the proposed controller does not need a priori explicit knowledge about USV dynamics. By virtue of Lyapunov synthesis and backstepping technique, an indirect adaptive fuzzy logic controller is derived. The design can guarantee the ultimate uniform boundedness (UUB) of all signals in the closed-loop system. A set of simulations are carried out to verify the effectiveness of the proposed controller.