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Intelligent Fuzzy Kinetic Control for an Under-Actuated Autonomous Surface Vehicle via Stochastic Gradient Descent

  • Yue Jiang
  • Lu Liu
  • Zhouhua PengEmail author
  • Dan WangEmail author
  • Nan Gu
  • Shengnan Gao
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11555)

Abstract

In this paper, an intelligent fuzzy kinetic control scheme based on online identification is developed for an under-actuated autonomous surface vehicle in the presence of unknown uncertainties and disturbances from ocean environment. An adaptive fuzzy system is used to approximate the unknown dynamics in real time by using recorded input and output data of the vessel. To improve the learning performance, the parameters of the fuzzy system are updated based on a stochastic gradient descent approach and a predictor design. With the estimated dynamics from the fuzzy system, a robust kinetic controller is designed without any off-line learning. The proposed intelligent fuzzy control method can be applied at the kinetic level of various control scenarios, such as target tracking, path following and trajectory tracking.

Keywords

Intelligent fuzzy kinetic control Stochastic gradient descent Under-actuated autonomous surface vehicle Unknown dynamics 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Marine Electrical EngineeringDalian Maritime UniversityDalianPeople’s Republic of China

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