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Robust adaptive tracking control of an underactuated ship with guaranteed transient performance

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  • Tingting Gao
  • Jiangshuai Huang
  • Yong Zhou
  • Yong-Duan Song

Abstract

In this paper, a robust adaptive controller for a underactuated ship is proposed to make the ship follow a predefined path with guaranteed transient performance and arbitrarily small steady-state position error and orientation error, despite the presence of environmental disturbances induced by wave, wind and ocean current and unknown system parameters. We design a new adaptive state feedback controller and parameter estimators to guarantee converging exponentially by assuming all states are available. It is shown that the mean-square tracking errors are of order of an arbitrarily small design parameter, and the position error and the orientation error also decrease at a pre-specified exponential rate. Simulations with a commercial monohull ship using Matlab also demonstrate the effectiveness of the controllers.

Suggested Citation

  • Tingting Gao & Jiangshuai Huang & Yong Zhou & Yong-Duan Song, 2017. "Robust adaptive tracking control of an underactuated ship with guaranteed transient performance," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(2), pages 272-279, January.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:2:p:272-279
    DOI: 10.1080/00207721.2016.1179816
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