• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.11a
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• pp.256-257
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• 2018

This paper deals with the path-following control for marine surface vehicles with underactuated characteristics. In consideration of practical limitations of actuators, an improved DVS(dynamic virtual ship) guidance algorithm is proposed with the multi-level DVS optionally selected to be tracked. To address the output-feedback control issue, an adaptive FLS(fuzzy logical systems) is devised to online approximate the kinematic states. Based on that observing framework, the path-following control law is thereafter derived. Simulations testify effectiveness of the proposed scheme