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dc.contributor.authorBasso, Erlend Andreas
dc.contributor.authorSchmidt-Didlaukies, Henrik
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorSørensen, Asgeir Johan
dc.date.accessioned2021-10-15T10:32:59Z
dc.date.available2021-10-15T10:32:59Z
dc.date.created2021-08-04T11:57:06Z
dc.date.issued2021
dc.identifier.isbn978-1-7281-9704-3
dc.identifier.urihttps://hdl.handle.net/11250/2823289
dc.description.abstractIn 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.en_US
dc.language.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.ispartofProc. 2021 American Control Conference
dc.titleGlobal Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertaintiesen_US
dc.typeChapteren_US
dc.description.versionacceptedVersionen_US
dc.rights.holder© IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.source.pagenumber1432-1437en_US
dc.identifier.doi10.23919/ACC50511.2021.9483419
dc.identifier.cristin1923821
dc.relation.projectNorges forskningsråd: 223254en_US
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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