Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method
This article introduces a path tracking control method for unmanned surface vehicle (USV), which uses finite-time adaptive fuzzy technology combined with command filter. Divide the path tracking control problem into the design of line of sight (LOS) guidance law and controller. Firstly, in response...
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10971354/ |
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| author | Jiayu Liu Baofang Wang |
| author_facet | Jiayu Liu Baofang Wang |
| author_sort | Jiayu Liu |
| collection | DOAJ |
| description | This article introduces a path tracking control method for unmanned surface vehicle (USV), which uses finite-time adaptive fuzzy technology combined with command filter. Divide the path tracking control problem into the design of line of sight (LOS) guidance law and controller. Firstly, in response to disturbances in the marine environment, a side slip angle update rate and expected guidance angle are designed. Secondly, an adaptive fuzzy control strategy is proposed to approximate and compensate for model uncertainty and changes in state variables, in order to improve system robustness. Simultaneously utilizing an improved finite-time command filter and backstepping method to control the required guidance angle for yaw angle tracking. Finally, design an improved compensation mechanism to make the tracking control of the system more precise. The effectiveness of this method is verified through MATLAB simulation results. |
| format | Article |
| id | doaj-art-55e36246edb44e4fa6f2b112346d932d |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-55e36246edb44e4fa6f2b112346d932d2025-08-20T02:20:23ZengIEEEIEEE Access2169-35362025-01-0113703137032310.1109/ACCESS.2025.356257910971354Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping MethodJiayu Liu0https://orcid.org/0009-0000-2844-2327Baofang Wang1https://orcid.org/0000-0002-7385-2162School of Automation, Qingdao University, Qingdao, Shandong, ChinaSchool of Automation, Qingdao University, Qingdao, Shandong, ChinaThis article introduces a path tracking control method for unmanned surface vehicle (USV), which uses finite-time adaptive fuzzy technology combined with command filter. Divide the path tracking control problem into the design of line of sight (LOS) guidance law and controller. Firstly, in response to disturbances in the marine environment, a side slip angle update rate and expected guidance angle are designed. Secondly, an adaptive fuzzy control strategy is proposed to approximate and compensate for model uncertainty and changes in state variables, in order to improve system robustness. Simultaneously utilizing an improved finite-time command filter and backstepping method to control the required guidance angle for yaw angle tracking. Finally, design an improved compensation mechanism to make the tracking control of the system more precise. The effectiveness of this method is verified through MATLAB simulation results.https://ieeexplore.ieee.org/document/10971354/Adaptive fuzzy controlline of sight guidance lawfinite-time command filterbackstepping method |
| spellingShingle | Jiayu Liu Baofang Wang Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method IEEE Access Adaptive fuzzy control line of sight guidance law finite-time command filter backstepping method |
| title | Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method |
| title_full | Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method |
| title_fullStr | Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method |
| title_full_unstemmed | Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method |
| title_short | Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method |
| title_sort | adaptive fuzzy control of usv based on improved finite time command filtered backstepping method |
| topic | Adaptive fuzzy control line of sight guidance law finite-time command filter backstepping method |
| url | https://ieeexplore.ieee.org/document/10971354/ |
| work_keys_str_mv | AT jiayuliu adaptivefuzzycontrolofusvbasedonimprovedfinitetimecommandfilteredbacksteppingmethod AT baofangwang adaptivefuzzycontrolofusvbasedonimprovedfinitetimecommandfilteredbacksteppingmethod |