Robust Path-Following Control of Underactuated Marine Vehicles Using Gradient-Descent Fuzzy Estimation

Safe Robust Adaptive Motion Control for Underactuated Marine Robots

“…For comparison purposes, the methodology described in [ 15 ] has been implemented under identical simulation conditions. In order to maintain methodological continuity and emphasize the significant improvements achieved, we have chosen to primarily compare our proposed method with our previous one.…”

“…This facilitates a clearer demonstration of the improvement and novelty of the proposed method as an extended version of the previous work. For further information regarding the controller and its structure, please refer to [ 15 ].…”

“…Moreover, the developed method does not use the direct feedback of the lateral velocity, eliminating the need for a costly lateral velocity sensor and thereby enhancing its economic viability. The primary contributions of this article, as an extended version of [ 15 ], are outlined as follows: Trajectory tracking of an underactuated marine vehicle is addressed amidst significant sources of uncertainties, encompassing time-varying external disturbances at both the Kinematics and Dynamics levels, unmodelled dynamics, time-varying water current speeds, lateral velocities, and estimator errors; Robust funnel control is proposed for trajectory tracking with formal stability guarantees, ensuring finite-time stability and safety; Control design eliminates the necessity for exact knowledge of the robot dynamics, enhancing design simplicity and feasibility through the utilization of straightforward feedback sensors. For instance, there is no requirement for lateral sensors or other complex sensors such as acceleration feedback; Leveraging developed mathematics and formulations, along with a TSMC and novel funnel boundary shape, designers can tailor to diverse requirements and uphold various safety measures across different initial conditions; Implementation of a fuzzy estimator facilitates the estimation of unmodelled dynamics in the robot, employing a simple design and straightforward inputs; Compensation for the imprecision of fuzzy systems is achieved through the integration of a robust controller.…”

Safe Robust Adaptive Motion Control for Underactuated Marine Robots

“…Moreover, the developed method does not use the direct feedback of the lateral velocity, eliminating this way the need for a costly lateral velocity sensor and thereby enhancing its economic viability. The primary contributions of this article, as an extended version of [15], are outlined as follows:…”

“…For comparison purposes, the methodology described in [15] has been implemented under identical simulation conditions. This facilitates a clearer demonstration of the improvement and novelty of the proposed method as an extended version of the previous work.…”