The goal in this project is to investigate and develop robust identification methods and adaptive controllers. The practical application is related to steering of ships (autopilots). Adaptive control is interesting in connection to ships, because these strategies are able to handle timevarying systems operating under unpredictable situations. In the period there has been focussed on model reduction in order to obtain resonable models suitable for control design. In the project there has been developed and investigated methods for designingpredictive controllers, which in the design procedure take the restriction into account. classical systemidentification is based on the models ability to predict one step a head. This ability is not necessarely connected to the control objective and methods for cennecting control and systemidentification has been investigated.
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