文章基本信息

标题：Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels
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作者：Mikkel Eske Nørgaard Sørensen ; Morten Breivik
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：16
页码：291-298
DOI：10.1016/j.ifacol.2015.10.295
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with the design and evaluation of four controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a marine surface vessel. The goal is to make a comparative analysis of the controllers in order to find out which one has the best performance. The considered controllers are: Adaptive backstepping, adaptive backstepping with command governor,L1adaptive backstepping andL1adaptive backstepping with command governor. Numerical simulations are performed for target tracking along both straight-line and circular paths, with uncertain model parameters and an unknown disturbance. Motion control performance is evaluated by performance metrics such as IAE, ISE, ITAE and a novel metric named IAEW which combines control accuracy and energy use in one single metric.
关键词：KeywordsMarine surface vesselNonlinear motion controlAdaptive backsteppingL1adaptive backsteppingCommand governorPerformance metrics