Adaptive fuzzy control for a class of constrained nonlinear systems with application to a surface vessel

In this paper, adaptive control for a class of uncertain nonlinear systems with input constraints is addressed. The main goal is to achieve a self-regulator PID controller whose coefficients are adjusted by using some adaptive fuzzy rules. The constraints on the control signal are taken into account as a saturation operator. The stability of the closed-loop system is analytically proved by using the Lyapunov stability theorem. The proposed method is then applied to a surface vessel with uncertain dynamic equations. The simulation results show the effectiveness of the proposed control strategy.

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Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.