Journal
IEEE JOURNAL OF OCEANIC ENGINEERING
Volume 45, Issue 2, Pages 362-370Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JOE.2018.2880622
Keywords
Hydrodynamics; Uncertainty; Trajectory; Aerodynamics; Adaptation models; Sea surface; Gravity; Adaptive control; integral concurrent learning (ICL); marine craft; nonlinear control; parameter identification; uncertain dynamics
Funding
- NEEC [N00174-18-1-0003]
- AFOSR [FA9550-18-1-0109]
- Office of Naval Research [N00014-13-1-0151]
- NSF [1509516, 1762829]
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In this paper, an adaptive controller is developed for a fully actuated marine vehicle where the rigid body and hydrodynamic parameters are unknown. A data-based integral concurrent learning method is used to compensate for the uncertain parameters. A Lyapunov-based analysis is presented to show that the closed-loop system is globally exponentially stable and the uncertain parameters are identified exponentially without the requirement of persistence of excitation. Experimental results on an autonomous surface vessel operating on a lake illustrate the controller's ability to track figure-8 trajectories in environments with small disturbances.
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