Performance Comparison of Backstepping-Based Adaptive Controllers for Marine Surface Vessels
| Autor: | Morten Breivik, Elias Bjorne, Mikkel Eske Norgaard Sorensen |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Adaptive control business.industry 020208 electrical & electronic engineering Control engineering 02 engineering and technology Motion control Nonlinear system 020901 industrial engineering & automation Approximation error Control theory Backstepping Metric (mathematics) 0202 electrical engineering electronic engineering information engineering Actuator business Energy (signal processing) |
| Zdroj: | CCA |
| Popis: | This paper deals with the design and evaluation of three controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a marine surface vessel. The goal is to make a comparative analysis of the controllers in order to find out which one has the best performance. The considered controllers are: Adaptive backstepping, backstepping with composite concurrent learning and backstepping with cascaded concurrent learning. Numerical simulations are performed for target tracking along an elliptic path, with uncertain vessel model parameters. Motion control performance is evaluated by performance metrics such as IAE and a novel metric named IAEW-WT which combines control accuracy, energy use and actuator wear and tear in one single metric. © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| Databáze: | OpenAIRE |
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