Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels. Issue 16 (2015)

• Record Type: Journal Article
• Authors: Sørensen, Mikkel Eske Nørgaard; Breivik, Morten
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 16(2015)
• Page Start: 291
• Page End: 298
• Publication Date: 2015
• Subjects: Marine surface vessel -- Nonlinear motion control -- Adaptive backstepping -- L1 adaptive backstepping -- Command governor -- Performance metrics; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.10.295
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper deals with the design and evaluation of four controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a marine surface vessel. The goal is to make a comparative analysis of the controllers in order to find out which one has the best performance. The considered controllers are: Adaptive backstepping, adaptive backstepping with command governor, L 1 adaptive backstepping and L 1 adaptive backstepping with command governor. Numerical simulations are performed for target tracking along both straight-line and circular paths, with uncertain model parameters and an unknown disturbance. Motion control performance is evaluated by performance metrics such as IAE, ISE, ITAE and a novel metric named IAEW which combines control accuracy and energy use in one single metric.