Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions

Lukas Roy Svane Theisen, Roberto Galeazzi, Mogens Blanke

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Abstract

This paper treats L1 adaptive hovering control of an unmanned surface vehicle in a station-keeping mode where a region of zero control authority and under-actuation are main challenges. Low-speed and reversing dynamics are identied from full scale sea trials, and parameter uncertainty is estimated. With signicant parameter variation, an L1 adaptive controller is employed for heading control. The L1 family of controllers allows for several topologies and an architecture is suggested that suits heading control of a vessel, the requirements of which dier from that of previous L1 literature. The control design is tackled directly in discrete time to allow a fast embedded implementation in the vehicle. Analysis of robustness, tracking performance and wave disturbance response are detailed in the paper.
Original languageEnglish
Title of host publicationProceedings of the 9th IFAC Conference on Control Applications in Marine Systems
PublisherElsevier
Publication date2013
Pages150-155
DOIs
Publication statusPublished - 2013
Event9th IFAC Conference on Control Applications in Marine Systems - Osaka, Japan
Duration: 17 Sep 201320 Sep 2013

Conference

Conference9th IFAC Conference on Control Applications in Marine Systems
CountryJapan
CityOsaka
Period17/09/201320/09/2013

Keywords

  • L1 adaptive control
  • Surface vehicle control
  • Unmanned systems
  • System identication

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