The robust adaptive design of straight-line tracking control

Author

Yang Liu

Author_Institution

Dalian Maritime Univ., Dalian

fYear

2008

fDate

25-27 June 2008

Firstpage

8936

Lastpage

8940

Abstract

The parametric non-strict-feedback and unmatched uncertainty of surface ship straight-line tracking control was considered. With the help of Lyapunov stability theory, considering the characteristics of the rudder system, a novel adaptive stepping algorithm is proposed, which could guarantee the closed-loop system to be uniformly ultimately bounded. The result of simulations present the validity and the better performance by considering characteristics of the rudder.

Keywords

Lyapunov methods; adaptive control; closed loop systems; control system synthesis; feedback; robust control; ships; Lyapunov stability theory; adaptive stepping algorithm; closed-loop system; parametric nonstrict-feedback; robust adaptive design; rudder system; surface ship straight-line tracking control uncertainty; Adaptive control; Adaptive systems; Design automation; Intelligent control; Lyapunov method; Marine vehicles; Programmable control; Robust control; Tellurium; Uncertainty; adaptive backstepping; non-strict-feedback; nonlinear control; straight-line tracking control; unmatched uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4594342

Filename

4594342