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• W2895848638 abstract "This paper presents a robust adaptive dynamic surface tracking controller for an underactuated surface vessel with unknown dynamics. The controller is designed based on the vessel tracking error dynamics by utilizing recursive backstepping approach. Dynamic surface control technique is introduced into the backstepping design to avoid the inherent complexity problem of requiring numerical derivatives of virtual control signals. In the case of no available dynamics information for the controller, an adaptive update law is derived to estimate the unknown dynamics including uncertain model parameters and hydrodynamics coefficients. The proposed tracking control algorithm is computationally efficient, and able to track the reference trajectory without any prior knowledge of the vessel dynamics. Stability of the resulting control system is analyzed by a Lyapunov function, which proves that all the tracking errors are uniformly ultimately bounded and converge to a small neighbourhood of the origin. Simulation results are presented to verify the effectiveness of the proposed controller." @default.
• W2895848638 created "2018-10-26" @default.
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• W2895848638 date "2018-07-01" @default.
• W2895848638 modified "2023-09-26" @default.
• W2895848638 title "Robust Adaptive Dynamic Surface Tracking Control of an Underactuated Surface Vessel with Unknown Dynamics" @default.
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• W2895848638 doi "https://doi.org/10.23919/chicc.2018.8482607" @default.
• W2895848638 hasPublicationYear "2018" @default.
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