Global Asymptotic Model-Free Trajectory-Independent Tracking Control of an Uncertain Marine Vehicle: An Adaptive Universe-Based Fuzzy Control Approach

Motivated by the challenging difficulty in tracking an uncertain marine vehicle (MV) with unknown dynamics and disturbances to any unmeasurable/unknown trajectory, which is unresolved, an adaptive universe-based fuzzy control (AUFC) scheme with retractable fuzzy partitioning (RFP) in global universe of discourse (UoD) is created to achieve global asymptotic model-free trajectory-independent tracking. By defining an error surface and intensively exploring the MV structure, tracking error dynamics are sufficiently trimmed via separating external unknowns including trajectory dynamics and disturbances from internal nonlinearities dependent on tracking errors. An innovative retractable fuzzy approximator (RFA) using the RFP is developed to estimate internal nonlinearities and does not require a priori knowledge on the UoD, thereby contributing to a globally adaptive approximation based control approach in conjunction with Lyapunov synthesis. Together with RFA residuals, external unknowns are globally dominated by adaptive universal compensators driven by tracking error surface. Eventually, tracking errors and their derivatives globally asymptotically converge to the origin and all other signals of the closed-loop system are bounded. Simulation studies demonstrate superior performance of the proposed AUFC scheme in terms of both tracking and approximation.

• Publication year

  2018

• Venue

  IEEE transactions on fuzzy systems

• Publication date

  2018-06-01

• Fields of study

  Computer Science, Engineering, Environmental Science

• Identifiers
  DOI 10.1109/TFUZZ.2017.2737405
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Tracking-Error-Based Universal Adaptive Fuzzy Control for Output Tracking of Nonlinear Systems with Completely Unknown Dynamics

  2018cited by this paper
• Fuzzy Tracking Control for Nonlinear Networked Systems

  2017cited by this paper
• Fuzzy-Model-Based Sampled-Data Control of Chaotic Systems: A Fuzzy Time-Dependent Lyapunov–Krasovskii Functional Approach

  2017cited by this paper
• Adaptive Neural Network Control of a Marine Vessel With Constraints Using the Asymmetric Barrier Lyapunov Function

  2017cited by this paper
• A Novel Disturbance Estimation Scheme for Formation Control of Ocean Surface Vessels

  2017cited by this paper
• Disturbance Observer Based Composite Learning Fuzzy Control of Nonlinear Systems with Unknown Dead Zone

  2017cited by this paper
• Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties

  2017cited by this paper
• Adaptive Robust Finite-Time Trajectory Tracking Control of Fully Actuated Marine Surface Vehicles

  2016cited by this paper
• Tracking control of a marine surface vessel with full-state constraints

  2016cited by this paper
• A Novel Extreme Learning Control Framework of Unmanned Surface Vehicles

  2016cited by this paper
• Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints

  2016cited by this paper
• Adaptive sliding-mode attitude control for autonomous underwater vehicles with input nonlinearities

  2016cited by this paper
• Adaptive Robust Online Constructive Fuzzy Control of a Complex Surface Vehicle System

  2016cited by this paper
• Direct adaptive self-structuring fuzzy control with interpretable fuzzy rules for a class of nonlinear uncertain systems

  2016cited by this paper
• Global finite-time heading control of surface vehicles

  2016cited by this paper
• Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation

  2016cited by this paper
• Output-Feedback Based Sliding Mode Control for Fuzzy Systems With Actuator Saturation

  2016cited by this paper
• Large Tanker Motion Model Identification Using Generalized Ellipsoidal Basis Function-Based Fuzzy Neural Networks

  2015cited by this paper
• Self-Constructing Adaptive Robust Fuzzy Neural Tracking Control of Surface Vehicles With Uncertainties and Unknown Disturbances

  2015cited by this paper
• Dynamic Tanker Steering Control Using Generalized Ellipsoidal-Basis-Function-Based Fuzzy Neural Networks

  2015cited by this paper
• Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration

  2015cited by this paper
• Composite Adaptive Fuzzy Output Feedback Control Design for Uncertain Nonlinear Strict-Feedback Systems With Input Saturation

  2015cited by this paper
• Constructive multi-output extreme learning machine with application to large tanker motion dynamics identification

  2014cited by this paper
• Direct adaptive neural network control of a class of nonlinear systems

  2014cited by this paper
• Adaptive Neural Network Control of a Fully Actuated Marine Surface Vessel With Multiple Output Constraints

  2014cited by this paper
• On impulsive parametric perturbation control techniques for chaotic ship steering

  2014cited by this paper
• Modeling and Nonlinear Heading Control of Sailing Yachts

  2014cited by this paper
• Enhanced Adaptive Fuzzy Control With Optimal Approximation Error Convergence

  2013cited by this paper
• Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer

  2013cited by this paper
• Distributed Control of Coordinated Path Tracking for Networked Nonholonomic Mobile Vehicles

  2013cited by this paper
• An efficient neural network approach to tracking control of an autonomous surface vehicle with unknown dynamics

  2013cited by this paper
• Identification and Learning Control of Ocean Surface Ship Using Neural Networks

  2012cited by this paper
• Output Feedback Tracking of Ships

  2011cited by this paper
• Adaptive Fuzzy Control With Guaranteed Convergence of Optimal Approximation Error

  2011cited by this paper
• Modeling and nonlinear heading control for sailing yachts

  2011cited by this paper
• Handbook of Marine Craft Hydrodynamics and Motion Control

  2011cited by this paper
• Robust tracking control of ocean surface vessels using disturbance observer

  2011cited by this paper
• Some approximation properties of adaptive fuzzy systems with variable universe of discourse

  2010cited by this paper
• Design of a sliding mode controller for trajectory tracking problem of marine vessels

  2007cited by this paper
• Adaptive fuzzy control for the ship steering problem

  2006cited by this paper
• Neural Network Model Reference Adaptive Control of Marine Vehicles

  2006cited by this paper
• Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory

  2005cited by this paper
• Model reference adaptive robust fuzzy control for ship steering autopilot with uncertain nonlinear systems

  2003cited by this paper
• Variable universe stable adaptive fuzzy control of nonlinear system

  2002cited by this paper
• Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles

  2002cited by this paper
• Robust adaptive fuzzy control and its application to ship roll stabilization

  2002cited by this paper
• Adaptive fuzzy ship autopilot for track-keeping

  2000cited by this paper
• A neural network approach to ship track-keeping control

  1996cited by this paper
• The use of artificial neural networks for the intelligent optimal control of surface ships

  1995cited by this paper
• Fuzzy model reference learning control for cargo ship steering

  1993cited by this paper
• Principles of mathematical analysis

  1964influential reference

• Distributed Aggregative Optimization of Uncertain Multiple Euler–Lagrange Systems: Comparative Analysis of Two Optimization-Control Strategies

  2026cites this paper
• Resilient Consensus Controller Design for Multi-Unmanned Underwater Vehicle Systems

  2025influential citation
• Intelligent Finite-Time Self-Triggered Control for Fuzzy UMV Systems With Hybrid Attacks

  2025cites this paper
• Decentralized Estimation and Control for Leader-Follower Networked Systems with Asymmetric Information Structure

  2025cites this paper
• Further Results on Asynchronous Fuzzy Observer-Based Output Feedback Control for Networked Nonlinear Systems Using Quantized Measurements

  2024cites this paper
• Adaptive dynamic surface control for trajectory tracking of autonomous surface vehicles with input and output constraints

  2024cites this paper
• The design of Tracking Trajectory System for an Underaccuated Unmanned Surface Vehicle by Using an Adaptive Neuro-Fuzzy Sliding Mode Controller

  2024cites this paper
• Research on path following control of unmanned ship based on fast wave inversion disturbance compensation and preset performance

  2024cites this paper
• An adaptive PID controller for path following of autonomous underwater vehicle based on Soft Actor–Critic

  2024cites this paper
• Improved Data-Driven Trajectory Tracking Control for UMVs Under False Data Injection Attacks with a Time-Varying Step Size Factor

  2024cites this paper
• Optimal Decentralized Control for Leader-Follower Autonomous Underwater Vehicle Swarm with Asymmetric Information Structure

  2024cites this paper
• Path Following of Underactuated Ship Using Integral MPC and Robust Adaptive Line-of-Sight Guidance

  2024cites this paper
• Depth and Pitch Control of Autonomous Underwater Glider Using Model Predictive Control with ARX Model

  2023cites this paper
• Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicle With Incomplete Underactuated Inputs

  2023cites this paper
• Fuzzy adaptive trajectory tracking control of work-class ROVs considering thruster dynamics

  2023cites this paper
• Iterative Learning-Based Data-Driven Control for Unknown Unmanned Marine Vehicles with Actuator Faults

  2023cites this paper
• Research on the dynamic positioning of remotely operated vehicles applied to underwater inspection and repair of hydraulic structures

  2023cites this paper
• Constrained control using novel nonlinear mapping for underactuated unmanned surface vehicles with unknown sideslip angle.

  2023cites this paper
• Dynamic Event-triggered Robust Adaptive Practical Fixed-Time Trajectory Tracking Control for Underactuated AUVs

  2023cites this paper
• Fault Detection for Unmanned Marine Vehicles Under Replay Attack

  2023cites this paper
• Intelligent vibration control for ultra-high-speed elevators: A type 2 variable universe fuzzy neural network method with input saturation

  2023cites this paper
• A New Design of Fuzzy Affine Model-Based Output Feedback Control for Discrete-Time Nonlinear Systems

  2023cites this paper
• Fuzzy Observer-Based Output Feedback Control of Continuous-Time Nonlinear Two-Dimensional Systems

  2023cites this paper
• A double-loop control framework for AUV trajectory tracking under model parameters uncertainties and time-varying currents

  2022cites this paper
• An improved NMPC-NDOB scheme for trajectory tracking of unmanned surface vessel

  2022cites this paper
• A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

  2022cites this paper
• Extended Dissipative Fault-Tolerant Control for Fuzzy Markov Jump Nonlinear Systems with Randomly Occurring Gain Variations

  2022cites this paper
• SMC-based model-free tracking control of unknown autonomous surface vehicles.

  2022cites this paper
• Completely Distributed Affine Formation Maneuvering of Networked Marine Surface Vehicles With Cooperation Localization

  2022cites this paper
• Adaptive Learning for Maximum Takeoff Efficiency of High-Speed Sailboats

  2022cites this paper
• Emergency Pull-over Algorithm for Level 4 Autonomous vehicles Based on Model-Free Adaptive Feedback Control with Sensitivity and Learning Approaches.

  2022cites this paper
• Predefined-time time-varying formation control of networked autonomous surface vehicles: a velocity- and model-free approach

  2022cites this paper
• Coevolutionary Optimization of a Fuzzy Logic Controller for Antilock Braking Systems Under Changing Road Conditions

  2021cites this paper
• Adaptive event-based tracking control of unmanned marine vehicle systems with DoS attack

  2021cites this paper
• Fuzzy-Affine-Model-Based Sampled-Data Filtering Design for Stochastic Nonlinear Systems

  2021cites this paper
• Quantized Interval Type-2 Fuzzy Control for Persistent Dwell-Time Switched Nonlinear Systems With Singular Perturbations

  2021cites this paper
• Fuzzy Affine Model-Based Sliding Mode Control for Discrete-Time Nonlinear Two-Dimensional Systems via Output Feedback

  2021cites this paper
• Tracking controllers of nonlinear output‐constrained surface ships subjected to external disturbances

  2021cites this paper
• Control mixto para el seguimiento de trayectoria en buques marinos

  2021cites this paper
• Practical Tracking Control of a Class of Uncertain Surface Vessels Under Weak Assumptions on Uncertainties and Reference Trajectories

  2021influential citation
• Fuzzy-Affine-Model-Based Sliding-Mode Control for Discrete-Time Nonlinear 2-D Systems via Output Feedback

  2021cites this paper
• Approach-angle-based three-dimensional indirect adaptive fuzzy path following of under-actuated AUV with input saturation

  2021cites this paper
• Guidance and control methodologies for marine vehicles: A survey

  2021cites this paper
• Variable Universe Fuzzy Control of High-Speed Elevator Horizontal Vibration Based on Firefly Algorithm and Backpropagation Fuzzy Neural Network

  2021cites this paper
• Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles

  2021cites this paper
• Fuzzy-Affine-Model-Based Output Feedback Dynamic Sliding Mode Controller Design of Nonlinear Systems

  2021cites this paper
• Finite-time fault-tolerant trajectory tracking control of an autonomous surface vehicle

  2020cites this paper
• Trajectory tracking control of Autonomous Marine Vessel using Neuro-Adaptive Sliding Mode Contro

  2020cites this paper
• Deadbeat Predictive Power Control with Fuzzy PI Compound Controller and Power Predictive Corrector for PWM Rectifier Under Unbalanced Grid Conditions

  2020cites this paper
• Adaptive Finite-Time Fuzzy Control of Nonlinear Active Suspension Systems With Input Delay

  2020cites this paper
• Data‐driven robust backstepping control of unmanned surface vehicles

  2020cites this paper
• Neural tracking control of surface vehicles with lumped uncertainties

  2020cites this paper
• Manoeuvring-based actuation evaluation of an AUV with control surfaces and through-body thrusters

  2020influential citation
• Event-Triggered Control for T–S Fuzzy Systems Under Asynchronous Network Communications

  2020cites this paper
• Dynamic Output Feedback Fault Tolerant Control for Unmanned Underwater Vehicles

  2020cites this paper
• A new approach to fuzzy control using the distending function

  2020cites this paper
• Finite‐time extended state observer‐based exact tracking control of an unmanned surface vehicle

  2020cites this paper
• Reinforcement Learning-Based Tracking Control of USVs in Varying Operational Conditions

  2020cites this paper
• Robust Adaptive Fuzzy Tracking Control for Uncertain MIMO Nonlinear Nonminimum Phase System

  2020cites this paper
• Deadbeat Predictive Power Control with Fuzzy PI Compound Controller and Power Predictive Corrector for PWM Rectifier Under Unbalanced Grid Conditions

  2020cites this paper
• Robust trajectory tracking control of a marine surface vessel using asymmetric error constraints and output feedback

  2020cites this paper
• A new design of output feedback sliding mode controller for T‐S fuzzy‐affine systems

  2020cites this paper
• Fuzzy Fixed-Time Learning Control With Saturated Input, Nonlinear Switching Surface, and Switching Gain to Achieve Null Tracking Error

  2020cites this paper
• Adaptive Leader–Follower Formation for Unmanned Surface Vehicles Subject to Output Constraints

  2020cites this paper
• Fuzzy-Model-Based Output Feedback Sliding-Mode Control for Discrete-Time Uncertain Nonlinear Systems

  2020cites this paper
• Accuracy of Trajectory Tracking Based on Nonlinear Guidance Logic for Hydrographic Unmanned Surface Vessels

  2020cites this paper
• Longitudinal motion control for high-speed trimaran based on computational fluid dynamics and predictive control

  2020cites this paper
• Reinforcement Learning-Based Optimal Tracking Control of an Unknown Unmanned Surface Vehicle

  2020cites this paper
• Hyperbolic-Tangent LOS Guidance-Based Finite-Time Path Following of Underactuated Marine Vehicles

  2020cites this paper
• A Mechatronic Brake Booster for Electric Vehicles: Design, Control, and Experiment

  2020cites this paper
• Observation-Based Nonlinear Proportional–Derivative Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles

  2020cites this paper
• A Fuzzy Adaptive Approach to Decoupled Visual Servoing for a Wheeled Mobile Robot

  2020cites this paper
• Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia

  2019cites this paper
• Observation Based Nonlinear PD Control For Robust Trajectory Tracking For Autonomous Underwater Vehicles

  2019cites this paper
• Prescribed performance control of one-DOF link manipulator with uncertainties and input saturation constraint

  2019cites this paper
• Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles

  2019cites this paper
• Congestion tracking control for uncertain TCP/AQM network based on integral backstepping.

  2019cites this paper
• Exponential Stabilization of Takagi–Sugeno Fuzzy Systems With Aperiodic Sampling: An Aperiodic Adaptive Event-Triggered Method

  2019cites this paper
• Leaderless and leader-following consensus of linear multi-agent systems with distributed event-triggered estimators

  2019cites this paper
• Vibration Control of an Axially Moving System with Restricted Input

  2019cites this paper
• Distributed Coordinated Tracking Control for Multiple Uncertain Euler–Lagrange Systems With Time-Varying Communication Delays

  2019cites this paper
• Robust Power Allocation for Femtocell Networks Using Fuzzy Estimation of Dynamic Channel States

  2019cites this paper
• Yaw-Guided Trajectory Tracking Control of an Asymmetric Underactuated Surface Vehicle

  2019cites this paper
• Accurate Trajectory Tracking of Disturbed Surface Vehicles: A Finite-Time Control Approach

  2019cites this paper
• Full-State Regulation Control of Asymmetric Underactuated Surface Vehicles

  2019cites this paper
• Fuzzy unknown observer-based robust adaptive path following control of underactuated surface vehicles subject to multiple unknowns

  2019cites this paper
• Backpropagating Constraints-Based Trajectory Tracking Control of a Quadrotor With Constrained Actuator Dynamics and Complex Unknowns

  2019cites this paper
• Modeling and Speed Control of the Underwater Wheeled Vehicle Flexible Towing System

  2019cites this paper
• Development of an Adaptive Fuzzy Sliding Mode Trajectory Control Strategy for Two-axis PMSM-Driven Stage Application

  2019cites this paper
• A Multiple-Criteria Decision-Making Method Based on D Numbers and Belief Entropy

  2019cites this paper
• Backstepping-Based Distributed Finite-Time Coordinated Tracking Control for Multiple Uncertain Euler–Lagrange Systems

  2019cites this paper
• Station-keeping Control of an Underactuated Stratospheric Airship

  2019cites this paper
• The Distributed Adaptive Finite-Time Chattering Reduction Containment Control for Multiple Ocean Bottom Flying Nodes

  2019cites this paper
• Global fast terminal sliding mode control based on radial basis function neural network for course keeping of unmanned surface vehicle

  2019cites this paper
• AFMBC for a Class of Nonlinear Discrete-Time Systems with Dead Zone

  2019cites this paper
• Distributed synchronization of autonomous underwater vehicles with memorized protocol

  2019cites this paper
• Prescribed performance adaptive fault-tolerant trajectory tracking control for an ocean bottom flying node

  2019cites this paper
• Adaptive finite‐time neural network control for redundant parallel manipulators

  2019cites this paper
• Distributed tracking control for multiple Euler-Lagrange systems with communication delays and input saturation.

  2019cites this paper
• AUV Bathymetric Simultaneous Localisation and Mapping Using Graph Method

  2019cites this paper