This paper treats L1 adaptive hovering control of an unmanned surface vehicle in a station-keeping mode where a region of zero control authority and under-actuation are main challenges. Low-speed and reversing dynamics are identified from full scale sea trials, and parameter uncertainty is estimated. With significant parameter variation, an L1 adaptive controller is employed for heading control. The L1 family of controllers allows for several topologies and an architecture is suggested that suits heading control of a vessel, the requirements of which differ from that of previous L1 literature. The control design is tackled directly in discrete time to allow a fast embedded implementation in the vehicle. Analysis of robustness, tracking performance and wave disturbance response are detailed in the paper. ; acceptedVersion ; © 2016. This is the authors’ accepted and refereed manuscript to the article. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/


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    Title :

    Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions


    Contributors:

    Publication date :

    2013-01-01


    Remarks:

    cristin:1081297
    150-155 ; 9 ; Elsevier IFAC Publications / IFAC Proceedings series ; 1



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629




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