The invention discloses an under-actuated surface vehicle trajectory tracking
control system based on a self-adaptive
fuzzy observer. A sensor module collects position and course information y of a surface vehicle and outputs the position and course information y to the self-adaptive
fuzzy observer; the self-adaptive
fuzzy observer receives output of a controller, obtains position and heading
estimation, speed
estimation, slow varying disturbance force
estimation and unknown nonlinear term estimation (please see the expressions in the specification) and respectively transmits the position and heading estimation, the speed estimation, the slow varying disturbance force estimation and the unknown nonlinear term estimation to a trajectory
tracking error generator and the controller; a guide
system obtains expected speed and accelerated speed information in a
hull coordinate
system through calculation and respectively transmits the expected speed and accelerated speed information to the trajectory
tracking error generator and the controller; the trajectory
tracking error generator obtains error information of all states of trajectory tracking and transmits the error information to the controller; the controller calculates a longitudinal thrust and course changing torque control instruction of the current moment and transmits the control instruction to a thrust
system, and the thrust system executes the control instruction. The under-actuated surface vehicle trajectory tracking
control system can perform
fast tracking under the conditions that only the position and the heading angle are measurable and a model has indeterminacy.