Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG

This note deals with the leader-following formation problem for multiple underactuated ships in the presence of structure uncertainties and the time-varying parameterized disturbances. Following this ideology, a novel robust fuzzy dynamic surface formation control algorithm is proposed by fusing of...

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Autores principales:	Shang Liu, Guoqing Zhang, Wenjun Zhang, Xianku Zhang
Formato:	article
Lenguaje:	EN
Publicado:	Taylor & Francis Group 2021
Materias:	underactuated ship formation control minimal learning parameter dynamic surface control low-frequency gain-learning Control engineering systems. Automatic machinery (General) TJ212-225 Systems engineering TA168
Acceso en línea:	https://doaj.org/article/ce65af0bc86e47e38a1beef1145fee45
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spelling	oai:doaj.org-article:ce65af0bc86e47e38a1beef1145fee452021-11-11T14:23:43ZRobust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG2164-258310.1080/21642583.2021.1997669https://doaj.org/article/ce65af0bc86e47e38a1beef1145fee452021-11-01T00:00:00Zhttp://dx.doi.org/10.1080/21642583.2021.1997669https://doaj.org/toc/2164-2583This note deals with the leader-following formation problem for multiple underactuated ships in the presence of structure uncertainties and the time-varying parameterized disturbances. Following this ideology, a novel robust fuzzy dynamic surface formation control algorithm is proposed by fusing of the dynamic surface control (DSC), minimal learning parameter (MLP) and low frequency gain-learning (LFG). In the control algorithm, the intermediate virtual control laws do not appear in the finally actual control effort, and only two fuzzy type approximators are introduced to compensate the model uncertainties and the external disturbances, which can effectively overcome the constraints of ‘explosion of complexity’ and ‘curse of dimensionality’ in the traditional approximation-based algorithm. Unlike the current DSC technique, no filter errors are required to be stabilized in the Lyapunov function by virtue of the filter compensation signal, which could optimize the calculation of stabilization analysis. Furthermore, benefiting from the LFG technique, the robustness and applicability of the proposed control algorithm can be improved. Based on the Lyapunov theory analysis, all signals of the closed-loop control system can be guaranteed to be semi-global uniformly ultimately bounded (SGUUB). Finally, the simulated experiment is provided to verify the effectiveness and superiority of the proposed control scheme.Shang LiuGuoqing ZhangWenjun ZhangXianku ZhangTaylor & Francis Grouparticleunderactuated shipformation controlminimal learning parameterdynamic surface controllow-frequency gain-learningControl engineering systems. Automatic machinery (General)TJ212-225Systems engineeringTA168ENSystems Science & Control Engineering, Vol 0, Iss 0, Pp 1-10 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	underactuated ship formation control minimal learning parameter dynamic surface control low-frequency gain-learning Control engineering systems. Automatic machinery (General) TJ212-225 Systems engineering TA168
spellingShingle	underactuated ship formation control minimal learning parameter dynamic surface control low-frequency gain-learning Control engineering systems. Automatic machinery (General) TJ212-225 Systems engineering TA168 Shang Liu Guoqing Zhang Wenjun Zhang Xianku Zhang Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG
description	This note deals with the leader-following formation problem for multiple underactuated ships in the presence of structure uncertainties and the time-varying parameterized disturbances. Following this ideology, a novel robust fuzzy dynamic surface formation control algorithm is proposed by fusing of the dynamic surface control (DSC), minimal learning parameter (MLP) and low frequency gain-learning (LFG). In the control algorithm, the intermediate virtual control laws do not appear in the finally actual control effort, and only two fuzzy type approximators are introduced to compensate the model uncertainties and the external disturbances, which can effectively overcome the constraints of ‘explosion of complexity’ and ‘curse of dimensionality’ in the traditional approximation-based algorithm. Unlike the current DSC technique, no filter errors are required to be stabilized in the Lyapunov function by virtue of the filter compensation signal, which could optimize the calculation of stabilization analysis. Furthermore, benefiting from the LFG technique, the robustness and applicability of the proposed control algorithm can be improved. Based on the Lyapunov theory analysis, all signals of the closed-loop control system can be guaranteed to be semi-global uniformly ultimately bounded (SGUUB). Finally, the simulated experiment is provided to verify the effectiveness and superiority of the proposed control scheme.
format	article
author	Shang Liu Guoqing Zhang Wenjun Zhang Xianku Zhang
author_facet	Shang Liu Guoqing Zhang Wenjun Zhang Xianku Zhang
author_sort	Shang Liu
title	Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG
title_short	Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG
title_full	Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG
title_fullStr	Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG
title_full_unstemmed	Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG
title_sort	robust fuzzy dynamic surface formation control for underactuated ships using mlp and lfg
publisher	Taylor & Francis Group
publishDate	2021
url	https://doaj.org/article/ce65af0bc86e47e38a1beef1145fee45
work_keys_str_mv	AT shangliu robustfuzzydynamicsurfaceformationcontrolforunderactuatedshipsusingmlpandlfg AT guoqingzhang robustfuzzydynamicsurfaceformationcontrolforunderactuatedshipsusingmlpandlfg AT wenjunzhang robustfuzzydynamicsurfaceformationcontrolforunderactuatedshipsusingmlpandlfg AT xiankuzhang robustfuzzydynamicsurfaceformationcontrolforunderactuatedshipsusingmlpandlfg
_version_	1718438986798596096

Robust fuzzy dynamic surface formation control for underactuated ships using MLP and LFG

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