NDLI: L1 adaptive control used in path following of surface ships

Content Provider	IEEE Xplore Digital Library
Author	Ruyi Ren Zaojian Zou Xuegang Wang
Copyright Year	2014
Description	Author affiliation: State Key Lab. of Ocean Eng., Shanghai Jiao Tong Univ., Shanghai, China (Xuegang Wang) \|\| Sch. of Naval Archit., Ocean & Civil Eng., Shanghai Jiao Tong Univ., Shanghai, China (Ruyi Ren; Zaojian Zou)
Abstract	In this paper, a cascaded control structure and the $L_{1}$ adaptive control law are used to deal with the path following problem of surface ships. The guidance-based strategy separates the geometric task from the ship motion control system. The whole control problem is decoupled into two subsystems, namely the outer-loop guidance subsystem and the inner-loop control subsystem. The outer-loop subsystem only concentrates on the geometrical part of the system and generates a desired yaw rate which guarantees the convergence of the ship to any proper given path. The desired yaw rate is then regarded as the reference output of the inner-loop control subsystem. Considering about the model uncertainty, the $L_{1}$ adaptive control strategy is used to deal with the inner-loop control subsystem. The $L_{1}$ adaptive method has a fast adaptation rate and robust control performance, which can ensure the uniformly bounded transient and asymptotic tracking performances. Besides, the $L_{1}$ theory is relative simple and easy for industrial implementation. The results show the effectiveness of the control law to the path following problem of ships.
Starting Page	8047
Ending Page	8053
File Size	179527
Page Count	7
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896346
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Adaptation models Uncertainty Path-following Kinematics Guidance-based L1 adaptive Mathematical model Marine vehicles Adaptive control Equations
Content Type	Text
Resource Type	Article

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