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Abstract
Traffic engineering control is a major challenge in marine transportation. Cost efficiency and high performance demand advanced technologies for the ship control systems. This paper develops an autopilot heading control scheme based on a fuzzy state observer for an intelligent ship on this subject to track the prescribed function while calling for performance limitation and order execution time. A fuzzy logic system (FLS) is adopted to approximate the unknown uncertainties caused by the changes in water depth, wind, wave, ship loading, and speed in navigation. State observer is required to obtain unknown yaw rate. By adopting performance function and tracking error transformation techniques, the heading tracking error can converge to prescribed performance bounds. Taking settling time into account, the finite-time adaptive prescribed performance control algorithm can save more resources effectively. Based on the Lyapunov stability theory, the observer-based adaptive fuzzy control approach does not cause any unbounded signal, the system remains stable. Meanwhile, the autopilot heading control system with an unknown yaw rate and constraint state can benefit from the given design.
Highlights
This paper focuses on the problem of observer-based adaptive fuzzy autopilot course performance constraint finite-time control
The property of the developed observer-based autopilot heading finite-time control scheme via performance constraint can be summarized as following theorem
We have investigated the observer-based autopilot heading adaptive fuzzy control problem for intelligent ship with prescribed performance
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Many methods have been designed to handle the state constraint problem, for example, in [24], the problem of the tracking control with a prescribed performance bound for the marine surface vessels was solved. To the authors’ knowledge, the problem of observer-based autopilot course tracking control for the intelligent ship with state constraint has not been studied in the existing literature, which is an interesting issue to be solved. This paper focuses on the problem of observer-based adaptive fuzzy autopilot course performance constraint finite-time control. (1) This paper developed an observer-based adaptive fuzzy autopilot course finitetime control scheme for ship control systems. (2) Based on the performance function and tracking error transformation techniques, an autopilot course tracking error constraint control scheme is developed, which can ensure the course tracking error converges to a prescribed performance bound in finite-time.
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