A ship is always under the influence of matched as well mismatched uncertainties and external disturbances owing to its operational environment and, therefore, designing an autopilot that offers uniform performance in the presence of uncertainties and disturbances poses a challenging task. In this work, to address the issue, control design based on adaptive backstepping robustified by Uncertainty and Disturbance Estimator (UDE) is proposed. The design does not need knowledge of bounds of uncertainties and disturbances and is able to effectively deal with the uncertainties and disturbances. Simulation results show that the performance of the backstepping autopilot is enhanced by combining the backstepping design with the UDE approach.
Robust backstepping ship autopilot design
Journal of Marine Engineering & Technology ; 20 , 1 ; 34-41
2021-01-01
8 pages
Article (Journal)
Electronic Resource
Unknown