NONLINEAR ADAPTIVE HEADING CONTROL FOR AN UNDERACTUATED SURFACE VESSEL WITH CONSTRAINED INPUT AND SIDESLIP ANGLE COMPENSATION

Xiaoyang Lu, Key Laboratory of Marine Technology and Control Engineering Ministry of Communications, Shanghai Maritime University, Shanghai 201306, China, Zhiquan Liu, Zhenzhong Chu, Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China
2020 Brodogradnja  
In this paper, a nonlinear adaptive heading controller is developed for an underactuated surface vessel with constrained input and sideslip angle compensation. The controller design is accomplished in a framework of backstepping technique. First, to amend the irrationality of the traditional definition of the desired heading, the desired heading is compensated by the sideslip angle. Considering the actuator physical constrain, a hyperbolic tangent function and a Nussbaum function are introduced
more » ... to handle the nonlinear part of control input. The error and the disturbance are estimated and compensated by an adaptive control law. In addition, to avoid the complicated calculation of time derivatives of the virtual control, the command filter is introduced to integrate with the control law. It is analysed by the Lyapunov theory that the closed loop system is guaranteed to be uniformly ultimately bounded stability. Finally, the simulation studies illustrate the effectiveness of the proposed control method.
doi:10.21278/brod71305 fatcat:vodtye3rxfhvjfaztoi2c2hqdi