Robust Control of a Surface Vessel with Adaptive Rejection of Disturbances with Unknown Parameters
Systems and Control
2021-10-20 v1 Systems and Control
Abstract
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive internal model and the extended observer. The paper analytically proves the boundedness of the trajectories of the system and their semiglobal convergence to an arbitrarily small set. The performance of the algorithm is illustrated by computer simulation.
Keywords
Cite
@article{arxiv.2110.09587,
title = {Robust Control of a Surface Vessel with Adaptive Rejection of Disturbances with Unknown Parameters},
author = {O. I. Borisov and F. B. Gromova and A. Iu. Zhivitckii and A. A. Pyrkin},
journal= {arXiv preprint arXiv:2110.09587},
year = {2021}
}
Comments
in Russian