欠驱动船舶航迹Backstepping自适应模糊控制

针对欠驱动船舶直线航迹跟踪问题，提出一种Backstepping自适应模糊控制方法．在模糊逼近误差存在未知上确界的假设条件下，基于Lyapunov~论证明了闭环系统在所有信号一致最终有界意义下具有均方意义稳定性．本文提出的控制器具有设计直观和结构简洁的特点，并且对参数摄动和外界干扰都具有良好的鲁棒性．在状态变量和控制输入共同约束下的仿真实验验证了该方法的有效性．

Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels

A backstepping adaptive fuzzy controller is proposed for the linear track-keeping problem of underactuated surface vessels. Under the assumption that the fuzzy approximation error is unknown but bounded, it is proved that the closed-loop system is mean-square stable in the sense that all variables are uniformly ultimately bounded by the Lyapunov theorem. The proposed controller has the characteristics of intuitive design and simple structure with strong robustness under the parameter perturbation and external disturbance. Simulation experiments are carried out under the constraint conditions of the state variable and control input. The results demonstrate the effectiveness of the proposed approach.