dc.contributor.author | Sørensen, Mikkel Eske Nørgaard | |
dc.contributor.author | Breivik, Morten | |
dc.date.accessioned | 2017-10-26T10:43:50Z | |
dc.date.available | 2017-10-26T10:43:50Z | |
dc.date.created | 2015-09-30T20:20:17Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | IFAC-PapersOnLine. 2015, 48 (16), 291-298. | nb_NO |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | http://hdl.handle.net/11250/2462329 | |
dc.description.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, 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.iso | eng | nb_NO |
dc.publisher | Elsevier | nb_NO |
dc.relation.uri | http://www.sciencedirect.com/science/article/pii/S2405896315021862 | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 291-298 | nb_NO |
dc.source.volume | 48 | nb_NO |
dc.source.journal | IFAC-PapersOnLine | nb_NO |
dc.source.issue | 16 | nb_NO |
dc.identifier.doi | 10.1016/j.ifacol.2015.10.295 | |
dc.identifier.cristin | 1277410 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_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.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |