Trajectory Tracking Design of Autonomous Surface Vessels with Multiple Perturbations: A Robust Adaptive Fuzzy Approach

Chen, Yung-Hsiang; Pan, Sheng-Yan; Chen, Yung-Yue

doi:10.3390/jmse13081419

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Trajectory Tracking Design of Autonomous Surface Vessels with Multiple Perturbations: A Robust Adaptive Fuzzy Approach

by

Yung-Hsiang Chen

¹

,

Sheng-Yan Pan

¹ and

Yung-Yue Chen

^2,*

¹

Department of Mechanical Engineering, National Pingtung University of Science and Technology, Pingtung 912301, Taiwan

²

Department of Systems and Naval Mechatronics Engineering, National Cheng Kung University, Tainan 701401, Taiwan

^*

Author to whom correspondence should be addressed.

J. Mar. Sci. Eng. 2025, 13(8), 1419; https://doi.org/10.3390/jmse13081419

Submission received: 11 May 2025 / Revised: 20 July 2025 / Accepted: 23 July 2025 / Published: 25 July 2025

(This article belongs to the Special Issue Advanced Research in Guidance, Navigation, and Control for Autonomous Surface Vehicle)

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Abstract

To achieve robust trajectory tracking performance for autonomous surface vessels (ASVs), a robust adaptive fuzzy control (RAFC) scheme is proposed. The trajectory tracking problem of ASVs is addressed through a unified control framework that integrates a nonlinear controller with an adaptive fuzzy estimator. In this framework, a nonlinear transformation is employed to first generate the trajectory tracking error dynamics, and then the adaptive fuzzy estimator is utilized to accurately estimate the effects of multiple ocean perturbations. This unified design ensures both robustness and high-precision trajectory tracking for the controlled ASVs. To validate the effectiveness of the proposed method, two challenging simulation scenarios are investigated. The simulation results demonstrate the superior control performance and robustness of the proposed approach.

Keywords: trajectory tracking; autonomous surface vessels; multiple perturbations; adaptive fuzzy; energy consumption; sea marine

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MDPI and ACS Style

Chen, Y.-H.; Pan, S.-Y.; Chen, Y.-Y. Trajectory Tracking Design of Autonomous Surface Vessels with Multiple Perturbations: A Robust Adaptive Fuzzy Approach. J. Mar. Sci. Eng. 2025, 13, 1419. https://doi.org/10.3390/jmse13081419

AMA Style

Chen Y-H, Pan S-Y, Chen Y-Y. Trajectory Tracking Design of Autonomous Surface Vessels with Multiple Perturbations: A Robust Adaptive Fuzzy Approach. Journal of Marine Science and Engineering. 2025; 13(8):1419. https://doi.org/10.3390/jmse13081419

Chicago/Turabian Style

Chen, Yung-Hsiang, Sheng-Yan Pan, and Yung-Yue Chen. 2025. "Trajectory Tracking Design of Autonomous Surface Vessels with Multiple Perturbations: A Robust Adaptive Fuzzy Approach" Journal of Marine Science and Engineering 13, no. 8: 1419. https://doi.org/10.3390/jmse13081419

APA Style

Chen, Y.-H., Pan, S.-Y., & Chen, Y.-Y. (2025). Trajectory Tracking Design of Autonomous Surface Vessels with Multiple Perturbations: A Robust Adaptive Fuzzy Approach. Journal of Marine Science and Engineering, 13(8), 1419. https://doi.org/10.3390/jmse13081419

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

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Trajectory Tracking Design of Autonomous Surface Vessels with Multiple Perturbations: A Robust Adaptive Fuzzy Approach

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