In this paper, a cascaded control structure and the L1 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 L1 adaptive control strategy is used to deal with the inner-loop control subsystem. The L1 adaptive method has a fast adaptation rate and robust control performance, which can ensure the uniformly bounded transient and asymptotic tracking performances. Besides, the L1 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.
L1 adaptive control used in path following of surface ships
01.07.2014
179527 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
On path following of underactuated surface ships
IEEE | 2014
|Adaptive path control of surface ships in restricted waters
TIBKAT | 1980
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