Adaptive Robust Online Constructive Fuzzy Control of a Complex Surface Vehicle System.

Area of Science:

• Robotics and Control Systems
• Fuzzy Logic Control
• Adaptive Control Theory

Background:

• Surface vehicles often face complex dynamics with uncertainties and external disturbances, challenging precise tracking control.
• Existing adaptive fuzzy control methods may struggle with interpretability, computational efficiency, or robustness in dynamic environments.

Purpose of the Study:

• To propose a novel adaptive robust online constructive fuzzy control (AR-OCFC) scheme for enhanced tracking of surface vehicles.
• To develop an online constructive fuzzy approximator (OCFA) capable of constructing interpretable fuzzy rules and partitions.
• To ensure closed-loop system stability, robustness, and bounded signals under uncertainties and disturbances.

Main Methods:

• The proposed OCFA utilizes a decoupled distance measure for dynamic allocation of fuzzy sets and construction of Takagi-Sugeno (T-S) fuzzy rules.
• A dominant adaptive controller (DAC) is designed using Lyapunov synthesis-based adaptive laws for stable fuzzy partitions.
• An auxiliary robust controller (ARC) is incorporated for robustness via stable cancellation and decoupled adaptive compensation.

Main Results:

• The AR-OCFC scheme, comprising DAC and ARC, guarantees global asymptotic stability and bounded signals for the closed-loop system.
• The OCFA demonstrates superior performance in constructing interpretable fuzzy rules and achieving accurate system approximation.
• Simulations confirm the AR-OCFC's superior tracking and approximation accuracy compared to existing adaptive control schemes.

Conclusions:

• The developed AR-OCFC scheme offers a robust and accurate solution for surface vehicle tracking control in the presence of uncertainties.
• The online constructive approach with interpretable fuzzy rules provides advantages over traditional self-organizing fuzzy neural networks.
• This research contributes a significant advancement in adaptive fuzzy control for complex dynamic systems.