Adaptive fuzzy heading angle control for unmanned surface vehicles based on convex optimization

The paper discusses the control problem of the heading angle for the uncertain unmanned surface vehicles (USV) based on convex optimization and adaptive fuzzy control methods. The fuzzy logic system is incorporated into the backstepping control framework to deal with the uncertain dynamics in the system. Then, a novel adaptive real-time update law is designed by combining the command filter and convex optimization. Performance analysis illustrates that our adaptive laws have a more powerful ability to approximate uncertain dynamics compared with traditional adaptive fuzzy control strategies. Finally, simulation and experimental results are given to show the effectiveness of the proposed method.