Adaptive Fuzzy Planar Path Following Control for Underactuated Wave Glider

[摘要] This paper addresses a path following problem of wave glider along a predefined path in horizontal plane. Based on the LOS guidance law and the virtual target method, a planar guidance controller for underactuated wave glider is presented to ensure the stability of the path following. And then, according to the classic feedback linearization PID controller and fuzzy controller, a fuzzy adaptive PID controller is developed. Furthermore, analysing the typical application scenario of wave glider, we set a simulation path in horizontal plane named polyline path. Numerical simulation results illustrate the proposed control design is effective to deal with planar following problem of wave glider.

[发布机构] National Ocean Technology Center, Tianjin; 300112, China^1;School of Marine Science and Technology, Tianjin University, Tianjin; 300072, China^2

[效力级别] 无线电电子学 [学科分类] 材料科学（综合）

[关键词] Adaptive fuzzy;Following problem;Fuzzy adaptive pid;Fuzzy controllers;Path following control;Path-following problems;PID controllers;Typical application