A path planning control for a vessel dynamic positioning system based on robust adaptive fuzzy strategy
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In this article , a robust adaptive fuzzy control model was proposed to reduce the effect of uncertainty problems and disturbances on the dynamic positioning system (DPS) of vessels in the path planning control process.Abstract:
The thrusters and propulsion propellers systems, as well as the operating situations, are all well-known nonlinearities which are caused less accuracy of the dynamic positioning system (DPS) of vessels in the path planning control process. In this study, to enhance the robust performance of the DPS, we proposed a robust adaptive fuzzy control model to reduce the effect of uncertainty problems and disturbances on the DPS. Firstly, the adaptive fuzzy controller with adaptive law is designed to adjust the membership function of the fuzzy controller to minimize the error in path planning control of the vessel. Secondly, the H∞ performance of robust tracking is proved by the Lyapunov theory. Moreover, compared to the other controller, a simulation experiment comprising two case studies confirmed the efficiency of the approach. Finally, the results showed that the proposed controller reaches control quality, performance and stability. read more
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References
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Thor I. Fossen,Jann Peter Strand +1 more
TL;DR: In this paper a nonlinear observer is derived and is proven to be passive and GES, and the number of tuning parameters is reduced to a minimum by using passivity theory, which results in a simple and intuitive tuning procedure.
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TL;DR: A survey of some of the major technology advances in the DP controller design having taken place during more than 30 years of research and development is given.
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Control of fully actuated ocean surface vessels using a class of feedforward approximators
Keng Peng Tee,Shuzhi Sam Ge +1 more
TL;DR: Under the proposed control, semiglobal uniform boundedness of the closed-loop signals is guaranteed for both full-state and output feedback cases, and the stable tracking controller is designed for the full- state feedback case.
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Network-Based T–S Fuzzy Dynamic Positioning Controller Design for Unmanned Marine Vehicles
TL;DR: The stability and stabilization criteria are derived by taking into consideration an asynchronous difference between the normalized membership function of the T–S fuzzy DPS and that of the controller, which can stabilize states of the UMV.
Journal ArticleDOI
Adaptive Neural-Fuzzy Robust Position Control Scheme for Maglev Train Systems With Experimental Verification
TL;DR: The sufficient simulation and experimental results are included to demonstrate that the presented robust controller significantly reduces the impact of the disturbance and parameter perturbations with a smooth control current.