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Title: Tracking control of surface vessels via fault-tolerant adaptive backstepping interval type-2 fuzzy control
Authors: Chen, X.
Tan, W.W. 
Keywords: Adaptive backstepping
Fault-tolerant control
Interval type-2 fuzzy logic system
Ship control
Trajectory tracking
Issue Date: 2013
Citation: Chen, X., Tan, W.W. (2013). Tracking control of surface vessels via fault-tolerant adaptive backstepping interval type-2 fuzzy control. Ocean Engineering 70 : 97-109. ScholarBank@NUS Repository.
Abstract: This paper focuses on tracking control of fully actuated surface vessels along a desired trajectory in the presence of time-varying hydrodynamic disturbances. The combination of backstepping control and approximation-based adaptive technique allows the proposed controller to accommodate certain faults in the plant and the controller itself, and to handle time-varying hydrodynamic disturbances without explicit knowledge about the disturbance model. Through backstepping and Lyapunov synthesis, a state feedback fault-tolerant adaptive backstepping interval type-2 fuzzy logic controller is introduced, with the option of high-gain observer for output feedback control. The stability of the closed-loop systems is explored where sufficient condition for guaranteeing global asymptotic convergence of the tracking errors in state feedback control is proposed, whereas semiglobal uniform boundedness of the closed-loop signals in output feedback control is guaranteed. Simulation studies with a container ship are carried out. The proposed technique is found to be effective and robust. © 2013 Elsevier Ltd.
Source Title: Ocean Engineering
ISSN: 00298018
DOI: 10.1016/j.oceaneng.2013.05.021
Appears in Collections:Staff Publications

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