Robust adaptive tracking control of an underactuated ship with guaranteed transient performance |
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Authors: | Tingting Gao Yong Zhou Yong-Duan Song |
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Affiliation: | 1. School of Mechanical and Electrical Engineering, Zhejiang Textile &2. Fashion College, Ningbo, Zhejiang 315211, China;3. Rojek Intelligent Technology Co., LtdNingbo 315500, China;4. School of Automation, Chongqing University, Chongqing 400044, China |
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Abstract: | In this paper, a robust adaptive controller for a underactuated ship is proposed to make the ship follow a predefined path with guaranteed transient performance and arbitrarily small steady-state position error and orientation error, despite the presence of environmental disturbances induced by wave, wind and ocean current and unknown system parameters. We design a new adaptive state feedback controller and parameter estimators to guarantee converging exponentially by assuming all states are available. It is shown that the mean-square tracking errors are of order of an arbitrarily small design parameter, and the position error and the orientation error also decrease at a pre-specified exponential rate. Simulations with a commercial monohull ship using Matlab also demonstrate the effectiveness of the controllers. |
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Keywords: | Underactuated ships adaptive control transient performance prescribed performance bound (PPB) technique robust control |
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