Abstract
This work provides an adaptive trajectory tracking control scheme for the unmanned surface vessel. The adaptive tracking control scheme builds on incorporating the fuzzy logic systems with the adaptive backstepping technique. By employing fuzzy logic systems as the approximations of ship dynamic uncertain term, the fuzzy trajectory tracking controller does not require the a priori knowledge of ship motion model dynamics. Furthermore, by using the adaptive backstepping control design, the trajectory tracking control law is derived to force the ships position and heading to track the reference trajectory. The effectiveness of the adaptive fuzzy control strategy is verified by simulation study based on a supply ship.KeywordsUnmanned surface vesselFuzzy controlTrajectory trackingAdaptive backstepping
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