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dc.contributor.authorSørensen, Mikkel Eske Nørgaard
dc.contributor.authorBreivik, Morten
dc.date.accessioned2017-10-26T10:43:50Z
dc.date.available2017-10-26T10:43:50Z
dc.date.created2015-09-30T20:20:17Z
dc.date.issued2015
dc.identifier.citationIFAC-PapersOnLine. 2015, 48 (16), 291-298.nb_NO
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2462329
dc.description.abstractThis 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, L1 adaptive backstepping and L1 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.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.relation.urihttp://www.sciencedirect.com/science/article/pii/S2405896315021862
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleComparing Nonlinear Adaptive Motion Controllers for Marine Surface Vesselsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber291-298nb_NO
dc.source.volume48nb_NO
dc.source.journalIFAC-PapersOnLinenb_NO
dc.source.issue16nb_NO
dc.identifier.doi10.1016/j.ifacol.2015.10.295
dc.identifier.cristin1277410
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2015. 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/nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
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