Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
Shang Liu, Guoqing Zhang, Wenjun Zhang, Xianku Zhang
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引用次数: 0

Abstract

This note deals with the leader-following formation problem for multiple underactuated ships in the presence of structure uncertainties and the time-varying parameterized disturbances. Following this ideology, a novel robust fuzzy dynamic surface formation control algorithm is proposed by fusing of the dynamic surface control (DSC), minimal learning parameter (MLP) and low frequency gain-learning (LFG). In the control algorithm, the intermediate virtual control laws do not appear in the finally actual control effort, and only two fuzzy type approximators are introduced to compensate the model uncertainties and the external disturbances, which can effectively overcome the constraints of ‘explosion of complexity’ and ‘curse of dimensionality’ in the traditional approximation-based algorithm. Unlike the current DSC technique, no filter errors are required to be stabilized in the Lyapunov function by virtue of the filter compensation signal, which could optimize the calculation of stabilization analysis. Furthermore, benefiting from the LFG technique, the robustness and applicability of the proposed control algorithm can be improved. Based on the Lyapunov theory analysis, all signals of the closed-loop control system can be guaranteed to be semi-global uniformly ultimately bounded (SGUUB). Finally, the simulated experiment is provided to verify the effectiveness and superiority of the proposed control scheme.
基于MLP和LFG的欠驱动船舶鲁棒模糊动态水面编队控制
本文讨论了多艘欠驱动船舶在存在结构不确定性和时变参数化扰动的情况下的先导跟随编队问题。根据这一思想,将动态表面控制(DSC)、最小学习参数(MLP)和低频增益学习(LFG)相结合,提出了一种新的鲁棒模糊动态表面形成控制算法。在控制算法中,中间虚拟控制律没有出现在最终的实际控制中,只引入了两个模糊型逼近器来补偿模型的不确定性和外部扰动,它可以有效地克服传统近似算法中“复杂性爆炸”和“维数诅咒”的约束。与目前的DSC技术不同,Lyapunov函数中不需要借助滤波器补偿信号来稳定滤波器误差,这可以优化稳定分析的计算。此外,得益于LFG技术,可以提高所提出的控制算法的鲁棒性和适用性。基于李雅普诺夫理论分析,闭环控制系统的所有信号都可以保证为半全局一致最终有界(SGUUB)。最后,通过仿真实验验证了该控制方案的有效性和优越性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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