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An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping

Publiceringsår: 2003
Språk: Engelska
Sidor: 3262-3267
Publikation/Tidskrift/Serie: Proceedings. 42nd IEEE Conference on Decision and Control, 2003.
Volym: 4
Dokumenttyp: Konferensbidrag
Förlag: IEEE


In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive control scheme. The resulting closed-loop system is globally asymptotically stable with respect to the ship positions and velocities, and globally stable with respect to adaptation to unknown parameters. A discrete-time approximation scheme is presented.



  • Technology and Engineering
  • asymptotic stability
  • closed loop system
  • dynamical ship position control
  • globally asymptotically stable
  • vectorial observer backstepping
  • observer based adaptive control
  • adaptive observer


  • ISSN: 0191-2216
  • ISBN: 0-7803-7924-1

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