Adaptive Nonlinear Heading Control of an Underactuated Nonminimum Phase Model of a Marine Vehicle  

Oleh:

Morel, Y. ; Leonessa, A.

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 117-122.
Topik: Nonlinear; Heading Control; Underactuated Nonminimum; Model; Marine Vehicle
Fulltext: AC021710.PDF (167.17KB)

Isi artikel

In this paper, an adaptive nonlinear heading controller for an underactuated nonminimum phase model of a marine vehicle is derived. The result is kept flexible enough, throughout its derivation, to be applicable to a large variety of marine vehicles. The characteristics of the dynamic model are such that solving the tracking problem is non-trivial. Specifically, we consider a propulsion system composed of either a thruster and a rudder, or a vectored thruster, which provides two independent control commands (surge and sway forces), and three degrees of freedom (rotation around the vertical axis, longitudinal and lateral translations). Furthermore, the sway force used as a control input generates a yawing moment of opposite sign, causing an unstable zero-dynamics. Alternative control strategies available in literature simplify the problem by choosing to consider either a case where sway force and yawing moment have the same sign, or where a yawing torque is available as an independent control input. The tracking problem dealt with in this paper is solved using a backstepping technique. The tracking problem is first solved assuming full knowledge of the geometric and hydrodynamic coefficients appearing in the vehicle’s model, then we further modify the obtained controller into an adaptive one. Computer simulations are presented to illustrate the performances of the final control algorithm.

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