Improved adaptive fuzzy control for unmanned surface vehicles with uncertain dynamics using high-power functions

In this paper, we consider the adaptive fuzzy control problem for unmanned surface vehicles with uncertain dynamics. The nonlinear controllers for both the forward speed and heading angle are developed based on the Lyapunov-derived approach. Then, a tracking error-driven adaptive fuzzy mechanism is proposed to overcome the issues of uncertain dynamics. Meanwhile, the high-power functions are incorporated into our method to improve the control performance. Compared with traditional fuzzy control strategies, our method is able to achieve the fixed-time boundedness of the tracking errors in a low-complexity manner. Finally, experiment results from a twin-hull unmanned surface vehicle are given to show the advantage of the proposed control algorithm.