In order to achieve the better tracking performance of unmanned surface vehicle(USV),an adaptive fuzzy controller based on the disturbance observer and command filter is designed in this paper.The fuzzy logic system(FLS)and a new disturbance observer are used to approximate and compensate the system with modeling uncertainty and disturbance of external environment.A new adaptive parameter is added to the disturbance observer and controller to improve the control accuracy.Based on this,a command-filter-based backstepping control method is designed to ensure that all the states of the system is bounded and the tracking errors are less than a prescribed accuracy in finite time.The simulation results show that this method is effective and can satisfy the given control precision.
关键词
模糊逻辑/水面无人船/扰动观测器/Lyapunov稳定性定理/自适应控制系统
Key words
fuzzy logic/unmanned surface vessel/disturbance observer/Lyapunov stability theorem/adaptive control system
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