Izvorni znanstveni članak
https://doi.org/10.1080/00051144.2022.2056289
A path planning control for a vessel dynamic positioning system based on robust adaptive fuzzy strategy
X. K. Dang
; Graduate School, Ho Chi Minh City University of Transport, Chi Minh, Vietnam
H. N. Truong
; Graduate School, Ho Chi Minh City University of Transport, Chi Minh, Vietnam
V. D. Do
; Graduate School, Ho Chi Minh City University of Transport, Chi Minh, Vietnam
Sažetak
The thrusters and propulsion propellers systems, as well as the operating situations, are all well-known nonlinearities which are caused less accuracy of the dynamic positioning system (DPS) of vessels in the path planning control process. In this study, to enhance the robust performance of the DPS, we proposed a robust adaptive fuzzy control model to reduce the effect of uncertainty problems and disturbances on the DPS. Firstly, the adaptive fuzzy controller with adaptive law is designed to adjust the membership function of the fuzzy controller to minimize the error in path planning control of the vessel. Secondly, the H∞ performance of robust tracking is proved by the Lyapunov theory. Moreover, compared to the other controller, a simulation experiment comprising two case studies confirmed the efficiency of the approach. Finally, the results showed that the proposed controller reaches control quality, performance and stability.
Ključne riječi
Adaptive law; dynamic positioning system; membership function; path planning control; robust adaptive fuzzy
Hrčak ID:
287531
URI
Datum izdavanja:
11.4.2022.
Posjeta: 271 *