FILTERING BACK-STEPPING SHIP MOTION CONTROL SYSTEM BASED ON ADAPTIVE FUZZY ESTIMATOR

摘要

A filtering back-stepping ship motion control system based on an adaptive fuzzy estimator, comprising a control system (2), a guidance system (4), a diffeomorphism convertor (6), a data processing system (7) and a sensor system (12). The guidance system (4) obtains the expected location, expected heading and expected speed of a ship at each point in time; the sensor system (12) comprises a position and orientation sensor (11) and a speed sensor (10); the data processing system (7) comprises a data fusion system (9) and a filtering system (8); the control system (2) comprises a filtering back-stepping controller (3) and an adaptive fuzzy estimator (5), the adaptive fuzzy estimator (5) receiving data from both the guidance system (4) and the diffeomorphism convertor (6), and the filtering back-stepping controller (3) receiving all of the expected information and derivative thereof provided by the guidance system (4), new state variable information provided by the diffeomorphism convertor (6) and the estimation output of an unknown nonlinear function provided by the adaptive fuzzy estimator (5).