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Title: Tracking control of surface vessels via adaptive backstepping interval type-2 fuzzy logic control
Authors: Chen, X.T.
Tan, W.W. 
Issue Date: 2012
Source: Chen, X.T.,Tan, W.W. (2012). Tracking control of surface vessels via adaptive backstepping interval type-2 fuzzy logic control. IEEE International Conference on Fuzzy Systems : -. ScholarBank@NUS Repository.
Abstract: This paper investigates the problem of tracking control of fully actuated surface vessels along a desired trajectory in the presence of time-varying hydrodynamic disturbances. The combination of approximation-based adaptive technique and interval type-2 fuzzy logic system allows the time-varying disturbances to be handled without explicit knowledge about the disturbance model. Through backstepping and Lyapunov synthesis, an indirect adaptive interval type-2 fuzzy logic controller (IT2 FLC) as well as a direct adaptive IT2 FLC for the tracking control problem are introduced. The stabilities of the closed-loop systems are explored where sufficient conditions for guaranteeing global asymptotical convergence of the tracking errors are proposed. Comparative simulations of the proposed techniques against their adaptive type-1 counterparts are carried out with a container ship. The proposed techniques are found to be effective and robust. © 2012 IEEE.
Source Title: IEEE International Conference on Fuzzy Systems
ISBN: 9781467315067
ISSN: 10987584
DOI: 10.1109/FUZZ-IEEE.2012.6251244
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