Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory

Authors:
Roger Skjetne;Thor I. Fossen;Petar V. Kokotović
Affiliations:
Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO-7491 Trondheim, Norway;Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO-7491 Trondheim, Norway and Centre for Ships and Ocean Structures (CeSOS), Norwegian University of S ...;Center for Control Engineering and Computation (CCEC), University of California, Santa Barbara (UCSB), CA 93106, USA
Venue:
Automatica (Journal of IFAC)
Year:
2005

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Abstract

The maneuvering problem involves two tasks. The first, called the geometric task, is to force the system output to converge to a desired path continuously parametrized by a scalar @q. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. In this paper, this dynamic behavior is further specified as a speed assignment for @q(t). While the main concern is to satisfy the geometric task, the dynamic task ensures that the system output follows the path with the desired speed. An adaptive recursive design technique is developed for a parametrically uncertain nonlinear plant describing the dynamics of a ship. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the dynamic task. The design procedure is performed and tested by several experiments for a model ship in a marine control laboratory.