Adaptive fuzzy logic with self-adjusting membership functions based tracking control of surface vessels

TATLICIOĞLU E., YILMAZ B. M., Savran A., Alci M.

OCEAN ENGINEERING, vol.253, 2022 (SCI-Expanded, Scopus) identifier identifier

  • Publication Type: Article / Article
  • Volume: 253
  • Publication Date: 2022
  • Doi Number: 10.1016/j.oceaneng.2022.111129
  • Journal Name: OCEAN ENGINEERING
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, PASCAL, Aerospace Database, Applied Science & Technology Source, Aquatic Science & Fisheries Abstracts (ASFA), Communication Abstracts, Computer & Applied Sciences, Environment Index, ICONDA Bibliographic, INSPEC, Metadex, Civil Engineering Abstracts
  • Manisa Celal Bayar University Affiliated: No

Abstract

Tracking control of surface vessels is aimed where the dynamical model includes uncertainties. In an attempt to design a broadly applicable control methodology, a model independent strategy is pursued. The dynamical uncertainties are modeled via a fuzzy logic network. In the design of the controller, proportional derivative feedback was made use of in conjunction with self-adjusting fuzzy logic compensation term obtained by adaptively updating control representative value matrix along with centers and widths of the membership value vector. Stability of the closed loop system is investigated through novel Lyapunov-based arguments and semi-global practical tracking is guaranteed. Numerical simulation studies are performed that support theoretical findings and demonstrate the effectiveness of the proposed method.