Robust Control of a Surface Vessel with Adaptive Rejection of Disturbances with Unknown Parameters

Autor:	Borisov, O. I., Gromova, F. B., Zhivitckii, A. Iu., Pyrkin, A. A.
Jazyk:	ruština
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive internal model and the extended observer. The paper analytically proves the boundedness of the trajectories of the system and their semiglobal convergence to an arbitrarily small set. The performance of the algorithm is illustrated by computer simulation. Comment: in Russian
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2110.09587 Zobrazit plný text záznamu View this record from Arxiv