dc.contributor.author | Basso, Erlend Andreas | |
dc.contributor.author | Schmidt-Didlaukies, Henrik | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Sørensen, Asgeir Johan | |
dc.date.accessioned | 2022-11-23T07:47:25Z | |
dc.date.available | 2022-11-23T07:47:25Z | |
dc.date.created | 2022-07-18T11:42:52Z | |
dc.date.issued | 2023 | |
dc.identifier.issn | 0018-9286 | |
dc.identifier.uri | https://hdl.handle.net/11250/3033533 | |
dc.description.abstract | 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 . | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.title | Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback | en_US |
dc.title.alternative | Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.journal | IEEE Transactions on Automatic Control | en_US |
dc.identifier.doi | 10.1109/TAC.2022.3161372 | |
dc.identifier.cristin | 2038620 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 2 | |