Nonlinear Filters-Based Adaptive Heading Tracking Control of Marine Vehicles Subject to Asymmetric Dead-Zone Output

In this paper, an adaptive control method using an improved nonlinear filter is designed for the heading tracking problem of marine vehicles with asymmetric dead-zone output under stochastic noise. Firstly, a smooth approximation model is introduced to address the non-differentiable phenomena caused by dead-zone output in the control process. Then, the unknown nonlinearity in the marine vehicles model is approximated by a fuzzy logic system (FLS), and FLS properties are utilized for relevant deduction. Afterwards, an improved nonlinear filter technique is proposed to avoid the issue of explosion of complexity (EOC) encountered in the backstepping method. Subsequently, the boundness of all signals in the closed-loop system in probability is proved using the stochastic Lyapunov method. Finally, the effectiveness of the proposed method is demonstrated through the provided simulation results.