Adaptive nonlinear ship tracking control with unknown control direction

Adaptive nonlinear ship tracking control with unknown control direction This paper is to suggest a novel design for ship tracking control of the benchmark Norrbin nonlinear ship model under relaxed conditions. The challenges of the problem under investigation include the uncertain or absent information of the model time constant, the uncertain reference course, and the intrinsic environmental disturbances. We formulate the ship tracking control problem in terms of a nonlinear output regulation problem with unknown control direction and uncertain exosystems. To solve the problem, we first adopt a novel internal model candidate to convert the output regulation problem into a stabilization problem for an augmented system. Then, a Nussbaum‐gain‐based stabilizer is developed for the augmented system to complete the design. Simulation results are presented to show the effectiveness of the proposed controller. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Robust and Nonlinear Control Wiley

Adaptive nonlinear ship tracking control with unknown control direction

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Publisher
Wiley Subscription Services, Inc., A Wiley Company
Copyright
Copyright © 2018 John Wiley & Sons, Ltd.
ISSN
1049-8923
eISSN
1099-1239
D.O.I.
10.1002/rnc.4052
Publisher site
See Article on Publisher Site

Abstract

This paper is to suggest a novel design for ship tracking control of the benchmark Norrbin nonlinear ship model under relaxed conditions. The challenges of the problem under investigation include the uncertain or absent information of the model time constant, the uncertain reference course, and the intrinsic environmental disturbances. We formulate the ship tracking control problem in terms of a nonlinear output regulation problem with unknown control direction and uncertain exosystems. To solve the problem, we first adopt a novel internal model candidate to convert the output regulation problem into a stabilization problem for an augmented system. Then, a Nussbaum‐gain‐based stabilizer is developed for the augmented system to complete the design. Simulation results are presented to show the effectiveness of the proposed controller.

Journal

International Journal of Robust and Nonlinear ControlWiley

Published: Jan 10, 2018

Keywords: ; ; ;

References

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