Work

Adaptive Fuzzy Sliding-Mode Control for Ship Path Tracking Based on a Fixed-Time Disturbance Observer

Year: 2025

Type: article

Abstract: We propose a control method that integrates adaptive fuzzy sliding-mode control (AF-SMC) with a fixed-time disturbance observer (FTDO) to address modeling errors, external disturbances, and input saturation in ship path tracking. The designed adaptive fuzzy system dynamically adjusts the SMC gain to enhance adaptability to parameter variations and modeling errors. Furthermore, the proposed method enables rapid estimation of the total uncertainty term by incorporating an FTDO, ensuring fixed-time estimation and feedforward compensation of the total matched uncertainty without requiring prior knowledge of the disturbance bound. Lyapunov stability analysis was employed to verify the bounded stability of the closed-loop system. Simulation results indicate that the proposed method provides high control accuracy and robustness.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse13091788

Authors: Yibu Li, Changchun Bao, Rui Guo

Institution: Inner Mongolia University of Technology

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funders: Inner Mongolia University, Inner Mongolia University of Technology