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

Lukas Roy Svane Theisen; Roberto Galeazzi; Mogens Blanke

doi:10.3182/20130918-4-JP-3022.00048

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

Lukas Roy Svane Theisen, Roberto Galeazzi, Mogens Blanke

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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 language	English
Title of host publication	Proceedings of the 9th IFAC Conference on Control Applications in Marine Systems
Publisher	Elsevier
Publication date	2013
Pages	150-155
DOIs	https://doi.org/10.3182/20130918-4-JP-3022.00048
Publication status	Published - 2013
Event	9th IFAC Conference on Control Applications in Marine Systems - Osaka, Japan Duration: 17 Sept 2013 → 20 Sept 2013 Conference number: 9 https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/46/issue/33

Conference

Conference	9th IFAC Conference on Control Applications in Marine Systems
Number	9
Country/Territory	Japan
City	Osaka
Period	17/09/2013 → 20/09/2013
Internet address	https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/46/issue/33

Keywords

L1 adaptive control
Surface vehicle control
Unmanned systems
System identication

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title = "Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions",

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.",

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note = "9th IFAC Conference on Control Applications in Marine Systems, CAMS 2013 ; Conference date: 17-09-2013 Through 20-09-2013",

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Theisen, LRS, Galeazzi, R & Blanke, M 2013, Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions. in Proceedings of the 9th IFAC Conference on Control Applications in Marine Systems. Elsevier, pp. 150-155, 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 17/09/2013. https://doi.org/10.3182/20130918-4-JP-3022.00048

Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions. / Theisen, Lukas Roy Svane; Galeazzi, Roberto ; Blanke, Mogens.
Proceedings of the 9th IFAC Conference on Control Applications in Marine Systems. Elsevier, 2013. p. 150-155.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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

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Keywords

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