Name
Title | ||
|---|---|---|
Robust adaptive tracking control of an underactuated ship with guaranteed transient performance. |
Abstract | ||
|---|---|---|
In this paper, a robust adaptive controller for a underactuated ship is proposed to make the ship follow a predefined path with guaranteed transient performance and arbitrarily small steady-state position error and orientation error, despite the presence of environmental disturbances induced by wave, wind and ocean current and unknown system parameters. We design a new adaptive state feedback controller and parameter estimators to guarantee converging exponentially by assuming all states are available. It is shown that the mean-square tracking errors are of order of an arbitrarily small design parameter, and the position error and the orientation error also decrease at a pre-specified exponential rate. Simulations with a commercial monohull ship using Matlab also demonstrate the effectiveness of the controllers. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1080/00207721.2016.1179816 | Int. J. Systems Science |
Keywords | Field | DocType |
Underactuated ships, adaptive control, transient performance, prescribed performance bound (PPB) technique, robust control | Control theory,MATLAB,Exponential function,Control theory,Full state feedback,Control engineering,Adaptive control,Underactuation,Robust control,Mathematics,Estimator | Journal |
Volume | Issue | ISSN |
48 | 2 | 0020-7721 |
Citations | PageRank | References |
1 | 0.36 | 16 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tingting Gao | 1 | 2 | 0.71 |
| Jiangshuai Huang | 2 | 386 | 18.80 |
| Yong Zhou | 3 | 1 | 0.36 |
| Yong-Duan Song | 4 | 1949 | 108.61 |