Observer-Based Autopilot Heading Finite-Time Control Design for Intelligent Ship with Prescribed Performance

• Published in: Journal of marine science and engineering Vol. 9; no. 8; p. 828
• Main Authors: Zhu, Liyan, Li, Tieshan
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.08.2021
• Subjects: Adaptive control; adaptive fuzzy control; Algorithms; Approximation; Automatic pilots; autopilot; Autopilots; Control; Control stability; Control systems; Control theory; Controllers; Design; Expected values; finite-time control; Fuzzy control; Fuzzy logic; Marine technology; Marine transportation; Navigation; prescribed performance; Sea transport; state observer; State observers; Tracking errors; Traffic control; Traffic engineering; Water depth; Yaw; Yawing
• ISSN: 2077-1312; 2077-1312
• DOI: 10.3390/jmse9080828

Traffic engineering control is a major challenge in marine transportation. Cost efficiency and high performance demand advanced technologies for the ship control systems. This paper develops an autopilot heading control scheme based on a fuzzy state observer for an intelligent ship on this subject to track the prescribed function while calling for performance limitation and order execution time. A fuzzy logic system (FLS) is adopted to approximate the unknown uncertainties caused by the changes in water depth, wind, wave, ship loading, and speed in navigation. State observer is required to obtain unknown yaw rate. By adopting performance function and tracking error transformation techniques, the heading tracking error can converge to prescribed performance bounds. Taking settling time into account, the finite-time adaptive prescribed performance control algorithm can save more resources effectively. Based on the Lyapunov stability theory, the observer-based adaptive fuzzy control approach does not cause any unbounded signal, the system remains stable. Meanwhile, the autopilot heading control system with an unknown yaw rate and constraint state can benefit from the given design.