Title :
The robust adaptive design of straight-line tracking control
Author_Institution :
Dalian Maritime Univ., Dalian
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;
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
DOI :
10.1109/WCICA.2008.4594342
