Periodic disturbance estimation based adaptive robust control of marine vehicles

Tracking control of marine vessels in the presence of parametric uncertainty and additive periodic disturbances is considered. For optimal estimation of environmental forces, periodic disturbance estimation method inspired from Fourier series expansion have been applied. Stability of the closed-loop system and the convergence of the tracking error under the closed-loop operation are established via Lyapunov based arguments. Simulation studies are provided to support the theoretical results and the effectiveness of the proposed method.

Automated summary

This study investigates tracking control of marine vessels in the presence of parametric uncertainty and additive periodic disturbances, using a periodic disturbance estimation method inspired by Fourier series expansion. The stability of the closed-loop system and the convergence of the tracking error under closed-loop operation are established through Lyapunov based arguments. Simulation studies support the theoretical results and demonstrate the effectiveness of the proposed method.