L1 Adaptive Manoeuvring Control of Unmanned High-speed Water Craft

Casper H. Svendsen, Niels Ole Holck, Roberto Galeazzi, Mogens Blanke

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This work addresses the issue of designing an adaptive robust control system to govern the steering of a high speed unmanned personal watercraft (PWC) maintaining equal performance across the craft’s envelope of operation. The maneuvering dynamics of a high speed PWC is presented and a strong variation over the envelope of operational conditions, including speed, is highlighted. The complexity of the nonlinear dynamics is overcome through identification of linear models at different speed regimes. A gray-box identification is conducted from full scale experiments and results in a four degrees-of-freedom surge-sway-yaw-roll model. An L1 adaptive autopilot is then designed, which allows to achieve fast adaption to system parameters’ changes and robustness of the closed loop system.
Original languageEnglish
Title of host publicationProceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Crafts
PublisherInternational Federation of Automatic Control
Publication date2012
ISBN (Print)978-3-902823-60-1
Publication statusPublished - 2012
EventIFAC Conference on Manoeuvring - Grand Hotel Arenzano, Arenzano, Italy
Duration: 19 Sep 201221 Sep 2012
Conference number: 9


ConferenceIFAC Conference on Manoeuvring
LocationGrand Hotel Arenzano


  • L1 adaptive control
  • Grey-box identification
  • LPV systems
  • Unmanned vehicles
  • High-speed maneuvering


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