Fuzzy adaptive finite-time sliding mode controller for trajectory tracking of ship course systems with mismatched uncertainties
Pooyan Alinaghi Hosseinabadi, Ali Soltani Sharif Abadi, Saad Mekhilef
Abstract
In this paper, a new finite-time robust controller is designed for the ship heading (course) control systems with unknown mismatched external disturbances and uncertainties to fulfil trajectory tracking task. The adaptive method is utilised to estimate the upper bound of these mismatched disturbances and uncertainties. Meanwhile, the fuzzy logic is employed to enhance the tracking performance. In short, the fuzzy controller, adaptive, finite-time stability concepts and sliding mode control (SMC) scheme have been incorporated to propose fuzzy adaptive finite-time SMC (FAFSMC) scheme to utilise their benefits and to compensate the shortages of applying them individually. The finite-time stability analysis is investigated by utilising the Lyapunov stability theory. The simulation results are carried out for the proposed fuzzy scheme and five other existing non-fuzzy schemes including simple, classical, cubic, hexagonal, and switching to reveal the effectiveness of the proposed scheme compared to the other five schemes.