Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan
Peer reviewed, Journal article
Accepted version
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Date
2023Metadata
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Original version
10.1109/TAC.2022.3161372Abstract
This paper presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed from a parametrized loop and a speed assignment specifying the motion along the path, which decouples the geometry of the path from the motion along the path. During flows, the hybrid feedback consists of a proportional-derivative action and an adaptive feedforward term, while a hysteretic switching mechanism that is independent of the vehicle velocities determines jumps. The effectiveness of the proposed control law is demonstrated through experiments .