A robust adaptive control for trajectory tracking of underactuated surface ships

Author

Liu, Yang ; Guo, Chen

Author_Institution

Sch. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China

fYear

2012

fDate

6-8 July 2012

Firstpage

1395

Lastpage

1399

Abstract

We proposed a robust adaptive control method for trajectory tracking of underactuated surface ship with parameters uncertainties and disturbances. Based on the diffeomorphism transformation, the new tracking variables are given. In kinematics loop, we design the reference yaw angle and the reference speed. The nonlinear adaptive controller is designed in dynamics loop to asymptotically approach to the desired variables. The stability of the closed-loop system is analyzed by using Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control method.

Keywords

Lyapunov methods; adaptive control; asymptotic stability; closed loop systems; control system analysis; control system synthesis; nonlinear control systems; robot kinematics; robust control; ships; steering systems; trajectory control; vehicle dynamics; Lyapunov theory; asymptotically stability; closed loop system; diffeomorphism transformation; disturbances; dynamics loop; kinematics loop; nonlinear adaptive controller design; parameter uncertainty; reference speed; reference yaw angle; robust adaptive control; steering; tracking variables; trajectory tracking control; underactuated surface ships; Adaptive control; Asymptotic stability; Educational institutions; Marine vehicles; Stability analysis; Trajectory; Uncertainty; Adaptive Control; Nonlinear System; Underactuated Ship; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6358098

Filename

6358098