Robust adaptive ship autopilot with wave filter and integral action

Autor:	Trygve Lauvdal, Thor I. Fossen
Rok vydání:	1998
Předmět:	Engineering Adaptive control Observer (quantum physics) business.industry Control engineering Rudder Band-stop filter law.invention Control and Systems Engineering Control theory law Filter (video) Signal Processing Autopilot Ship stability Electrical and Electronic Engineering business
Zdroj:	International Journal of Adaptive Control and Signal Processing. 12:605-622
ISSN:	1099-1115 0890-6327
DOI:	10.1002/(sici)1099-1115(199812)12:8<605::aid-acs516>3.0.co;2-1
Popis:	A stable minimum phase transfer function from rudder angle to yaw angle is used to design a globally convergent adaptive ship autopilot. First-order wave disturbances in yaw are filtered by applying a notch filter. Integral action is introduced by augmenting the plant. Global convergence is proven for the total system which includes the observer, the parameter update law, the feedback controller, the notch filter and the integral part of the controller. The simulation results showed that the performance is excellent, even with no a priori knowledge of the ship parameters. © 1998 John Wiley & Sons, Ltd.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::9042125919643d4417525b897ca66613 https://doi.org/10.1002/(sici)1099-1115(199812)12:8<605::aid-acs516>3.0.co Zobrazit plný text záznamu Plný text