Adaptive Online Constructive Fuzzy Tracking Control for Unmanned Surface Vessel With Unknown Time-Varying Uncertainties

In this paper, a practical adaptive online constructive fuzzy control (AOCFC) algorithm is proposed to handle the trajectory tracking problem for the unmanned surface vessel under unknown time-varying uncertainties. In the AOCFC algorithm, the dynamic surface control technology combined with “logical virtual vessel”can program the rational reference route while avoiding the problem of “complexity explosion.”Besides, the proposed online constructive fuzzy approximator (OCFA) is devised to deal with the unknown time-varying uncertainties. The OCFA has two advantages: first, it can estimate the uncertainties without exact information of the dynamic model and external environmental disturbances; second, it employs decoupled distance measure and structure learning mechanism to dynamically and parsimoniously self-constructing fuzzy rules. At the same time, we have proved that the tracking errors of the closed-loop control system are uniformly ultimately bounded. Finally, the simulation result and comprehensive comparison demonstrate the proposed controller's performance and effectiveness.