Event-Triggered Adaptive Fuzzy Setpoint Regulation of Surface Vessels With Unmeasured Velocities Under Thruster Saturation Constraints
Xin Hu, Guibing Zhu, Yong Ma, Zhixiong Li, Reza Malekian, Miguel Ángel Sotelo
Abstract
This article investigates the event-triggered adaptive fuzzy output feedback setpoint regulation control for the surface vessels. The vessel velocities are noisy and small in the setpoint regulation operation and the thrusters have saturation constraints. A high-gain filter is constructed to obtain the vessel velocity estimations from noisy position and heading. An auxiliary dynamic filter with control deviation as the input is adopted to reduce thruster saturation effects. The adaptive fuzzy logic systems approximate vessel’s uncertain dynamics. The adaptive dynamic surface control is employed to derive the event-triggered adaptive fuzzy setpoint regulation control depending only on noisy position and heading measurements. By the virtue of the event-triggering, the vessel’s thruster acting frequencies are reduced such that the thruster excessive wear is avoided. The computational burden is reduced due to the differentiation avoidance for virtual stabilizing functions required in the traditional backstepping. It is analyzed that the event-triggered adaptive fuzzy setpoint regulation control maintains position and heading at desired points and ensures the closed-loop semi-global stability. Both theoretical analyses and simulations with comparisons validate the effectiveness and the superiority of the control scheme.