Adaptive Autopilot Design of Time-Varying Uncertain Ships With Completely Unknown Control Coefficient

Author

Du, Jialu ; GUO, Chen ; Yu, Shuanghe ; Zhao, Yongsheng

Author_Institution

Dalian Maritime Univ., Dalian

Volume

32

Issue

2

fYear

2007

fDate

4/1/2007 12:00:00 AM

Firstpage

346

Lastpage

352

Abstract

This paper develops an adaptive course controller for time-varying parametric uncertain nonlinear ships with completely unknown time-varying bounded control coefficient. The proposed design method does not require any a priori knowledge of the sign of the unknown time-varying control coefficient. The designed adaptive autopilot can guarantee the regulation of the ship course to any prescribed accuracy and the global uniform ultimate boundedness of all signals in the closed-loop system. The effectiveness of the presented autopilot has been demonstrated in a simulation involving a ship of 45 m in length.

Keywords

adaptive control; closed loop systems; control system synthesis; remotely operated vehicles; ships; time-varying systems; adaptive autopilot design; adaptive course controller; closed-loop system; control design method; time-varying bounded control coefficient; time-varying parametric uncertain nonlinear ships; unknown control coefficient; Adaptive control; Automatic control; Backstepping; Design methodology; Marine vehicles; Programmable control; Robust control; Signal design; Three-term control; Uncertainty; Adaptive; Nussbaum gain; backstepping; ship course control; time-varying parametric uncertainty;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/JOE.2007.893684

Filename

4383213