Abstract

A Fuzzy logic control law is presented and implemented for trajectory tracking of multiple under actuated autonomous surface vessels. In this study, an individual unmanned ship is used to be the leader that tracks the desired path; other unmanned ships are used to be the followers which track the leader only by using its position. A fuzzy controller was implemented for the ship leader position with a constant velocity; however, the ship follower needed a fuzzy controller for the position and the forward velocity. Simulation results show that the fuzzy method presents an interesting robustness against the environmental disturbances and effective tracking results.

Keywords:

Fuzzy logic control, multiple unmanned ships, ship path following, under actuated surface vessels,

References

Competing interests

The authors have no competing interests.

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Copyright

The authors have no competing interests.