Surge-Varying Adaptive LOS Based Path Following Control of Underactuated Marine Vehicles with Adaptive Sideslip Compensation and fuzzy Uncertainty Observation

Subject to complex uncertainties, a novel surge-varying adaptive LOS (SALOS) based path following control scheme is addressed for underactuated marine vehicles (UMVs) in this paper. Main contributions are as follows: (1) The surge velocity and heading angle are guided with path following errors, simultaneously, and the unknown sideslip angle is estimated by an adaptive term online. (2) Complex unknown uncertainties including the internal parameter perturbations, external environmental disturbances and unmodelled dynamics are compositely estimated by the constructed fuzzy uncertainty observer (FUO); (3) Robust surge and heading tracking controllers based on the FUO are developed to ensure that the tracking errors and uncertainty observation errors are uniformly ultimately bounded (UUB). Simulation studies are conducted to demonstrate the effectiveness and remarkable performance of the proposed SALOS scheme.