An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping
Publikation/Tidskrift/Serie: Proceedings. 42nd IEEE Conference on Decision and Control, 2003.
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