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

Socpus ID

33645697340 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/33645697340

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