Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan
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Date
2021Metadata
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- Institutt for marin teknikk [3431]
- Institutt for teknisk kybernetikk [3740]
- Publikasjoner fra CRIStin - NTNU [38047]
Original version
10.23919/ACC50511.2021.9483419Abstract
In this paper, we propose a hybrid adaptive feedback control law for global asymptotic tracking control for marine surface vehicles in the presence of parametric uncertainties. The hybrid feedback is derived from a family of potential functions and employs a hysteretic switching mechanism that is independent of the vehicle velocities. The tracking references are constructed from a given parametrized loop and a speed assignment specifying the motion along the loop. Finally, we provide simulation results for a ship subject to parametric modeling uncertainties and unknown ocean currents.