針對具有時變建模不確定性和未知隨機環境擾動之自主水面載具之軌跡追蹤問題，提出了一種多輸入多輸出非線性適應模糊強健控制律設計。為解決建模不確定性和環境擾動影響的問題，此針對多輸入多輸出非線性系統之控制律結合了兩個適應模糊估測器和一個強健補償器，以適應地鑑別自主水面載具之實際模型，並同時強健地衰弱環境擾動及估測誤差，以實現精確的軌跡追蹤性能。從模擬結果來看，此控制設計實現了對自主水面載具的適應性、強健性及容錯性。

A multi-input and multi-output nonlinear adaptive fuzzy robust guidance law is proposed for the trajectory tracking problems of an autonomous marine surface vessel with time-varying modeling uncertainties and unknown random environmental disturbances. For solving the issues of modeling uncertainties and effects of environmental disturbances, this proposed guidance law for multi-input multi-output nonlinear system integrates two adaptive fuzzy approximators, and one robust compensator to adaptively identify the autonomous marine surface vessel’s actual model and robustly mitigate the environmental disturbances and approximation errors simultaneously in order to achieve the accurate trajectory tracking performances. From the simulation results, this proposed control design reveals virtues of adaptability, robustness and fault tolerance to autonomous marine surface vessels.

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