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Multi-mode Control System of an Unmanned Vessel with Fuzzy Hybridization of Controllers

The paper considers the control system of the unmanned vessel in different modes of motion. The mathematical model of the vessel in the plane is described. Three modes are considered: terminal motion to a defined point, positioning at a defined point, and obstacle avoidance. A controller that realizes the set modes of motion was synthesized basing on the method of position-trajectory control. The transition from one mode of motion to another is realized by changing the algorithm of reference calculation. In the terminal motion mode, the desired speed is calculated by the set motion time and distance to the destination point. In the positioning mode, a transition to the calculation of the required speed is made based on information about the distance to the desired position of the vessel. To avoid an obstacle, a component generated by an additional differential equation, which solution is stable far from the obstacle, and unstable in the obstacle area, is added to the desired orientation angle of the vessel. For conjugation of various motion modes, fuzzy logic is used, which allows smoothing the transient modes and eliminating the singularity in the terminal control law. The asymptotic stability of the desired equilibrium state of a multimode control system with fuzzy logic is proved. The results of simulation and experiments using a mini-boat are considered.