On Inverse Optimal Adaptive Designs for Tracking Control of Ships with Exogenous Disturbances  

Oleh:

Fu, S.H. ; Cheng, C.C. ; Haddad, W. M.

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 129-134.
Topik: Inverse Optimal; Adaptive Designs; Tracking Control; Exogenous Disturbances
Fulltext: AC021360.PDF (304.19KB)

Isi artikel

In this paper we develop an inverse optimal adaptive controller that guarantees disturbance rejection to exogenous disturbances for surface vessels. The nonlinear ship model is velocity dependent, and the unknown slowly-varying environment disturbance is considered. Computer simulation illustrates the performance of the presented framework. Also, a comparison with standard backstepping design and locally optimal and robust backstepping (LOB) design is presented.

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