Title
Model Reference Adaptive Tracking Control Of Nonminimum Phase Marine Vehicles
Abstract
The most commonly used propulsion system for marine vehicles is a propeller, generating thrust, and a stern rudder, used for steering. Motion control of a vehicle equipped with such a propulsion system can prove rather challenging. Indeed, the vehicle will not only be underactuated, but also nonminimum phase. Classically, the undesirable effects of the nonminimum phase nature of the system will translate into attitude issues. In this paper, a model reference adaptive controller that satisfactorily solves the tracking problem for a nonminimum phase model of marine vehicle is presented, along with an expression of the zero-dynamics. Using Lyapunov theory and introducing carefully chosen tracking errors, we study the closed-loop system stability and relate the behavior of the zero-dynamics to a relevant design constant. Copyright © 2005 by ASME.
Publication Date
12-1-2005
Publication Title
American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume
74 DSC
Issue
1 PART A
Number of Pages
39-47
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1115/IMECE2005-80897
Copyright Status
Unknown
Socpus ID
33645697340 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/33645697340
STARS Citation
Morel, Yannick and Leonessa, Alexander, "Model Reference Adaptive Tracking Control Of Nonminimum Phase Marine Vehicles" (2005). Scopus Export 2000s. 3352.
https://stars.library.ucf.edu/scopus2000/3352