A Novel Robust Control and Optimal Design for Fuzzy Unmanned Surface Vehicles (USVs)

A novel high-order robust control is proposed for unmanned surface vehicles (USVs) steering dynamic systems. We creatively adopt the fuzzy set-based characterization to describe the uncertainty. In this way, the fuzzy dynamical USV system is constructed. Then, the proposed control is proven to render the USV system uniformly bounded and uniformly ultimately bounded regardless of the uncertainty. Furthermore, a performance index is designed by considering both system performances and control costs. This index utilized the fuzzy characteristics of the uncertainty. We solve for the optimal control design parameter by minimizing this index. Finally, simulations are performed for different cases. By comparing the detailed simulation results, the effectiveness of the high-order control is demonstrated and the functions of the control parameter are analysed.