“Cascaded adaptive control of ocean vehicles with significant actuator dynamics”
Authors: Thor I. Fossen and Ola-Erik Fjellstad,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1994, Vol 15, No 2, pp. 81-91.
Keywords: Adaptive control, actuator dynamics, ship steering, ROV
Abstract: This paper presents a cascade adaptive control scheme for marine vehicles where the non-linear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants to be known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbalat´s lemma. Global asymptotic stability is proven for the velocity scheme while the position/attitude controller is only proven to be convergent. Furthermore, all parameter estimates are shown to be bounded. Computer simulations of an ROV speed control system and an autopilot for automatic ship steering are used to illustrate the design methodology.
PDF (1130 Kb)
DOI: 10.4173/mic.1994.2.2DOI forward links to this article:
| [1] Khashayar Nikzad, Jamshid Ghaboussi and Stanley L. Paul (1996), doi:10.1061/(ASCE)0733-9399(1996)122:10(966) |
| [2] Weilin Luo, Carlos Guedes Soares and Zaojian Zou (2014), doi:10.1109/JOE.2013.2282475 |
| [3] Yintao Wang and Yani Zhang (2018), doi:10.1155/2018/4180275 |
| [4] Mingjie Li, Caoyang Yu, Xiaochao Zhang, Chunhu Liu and Lian Lian (2023), doi:10.1016/j.oceaneng.2022.113232 |
[1] BARBALAT (1959). Systemes d´èquations diffèrentielles d´oscillations non linèaires, Revue de Mathèmatiques Pures et Appliquèes, 4, 267-270..in French.
[2] BUTLER, H.. HONDERD. G. VAN AMERONGEN, J. (1991). Reference model decomposition in direct adaptive control, International Journal of Adaptive Control and Signal Processing, 5, 199-217 doi:10.1002/acs.4480050305
[3] FJELLSTAD, O.-E., FOSSEN. T.I. EGELAND, O. (1992). Adaptive control of ROVs with actuator dynamics and saturation, In Proceedings of the 2nd International Offshore and Polar Engineering Conference.ISOPE, San Francisco, CA, June 1992.
[4] FOSSEN, T.I. SAGATUN, S.I. (1991). Adaptive control of nonlinear underwater rohotic systems, In Proceedings of the IEEE Conference on Robotics and Automation, pp. 1687-1695, Sacramento, California, April 1991.
[5] FOSSEN T.I. SAGATUN, S.I. (1991). Adaptive control of nonlinear systems: a case study of underwater robotic systems, Journal of Robotic Systems, 8, 393-412 doi:10.1002/rob.4620080307
[6] FOSSEN, T.I. (1992). Adaptive control of flexible joint manipulators, Submitted to the IEEE Transactions on Automatic Control.
[7] FOSSEN, T.I. (1993). Comments on Hamiltonian adaptive control of spacecraft, IEEE Transactions on Automatic Control, 38, 671-672 doi:10.1109/9.250547
[8] FOSSEN, T.I. (1994). Guidance and control of ocean vehicles, John Wiley and Sons Ltd., Chichester.
[9] HEALEY, A.J. MARCO, D.B. (1992). Slow speed flight control of autonomous underwater vehicles: experimental results with NPS AUV II, In Proceedings of the 2nd International Offshore and Polar Engineering Conference.ISOPE, San Francisco, CA, June 1992.
[10] KIRCHHOFF G. (1869). Ueber die Bewegung eines Rotationskörpers in einer Flussigkeit, Crelle´s Journal, No. 71, pp. 237-273.
[11] NEWMAN, J.N. (1977). Marine Hydrodynamics, MIT Press, Cambridge, MA.
[12] NOMOTO, K., TAGUCHI, T., HONDA, K. HIRANO, S. (1957). On the steering qualities of ships, Technical report, International Shipbuilding Progress, Vol. 4.
[13] POPOV, N.M. (1973). Hyperstability of Control Systems, Springer-Verlag, Berlin.
[14] SAGATUN, S.I. FOSSEN, T.I. (1991). Lagrangian formulation of underwater vehicles´ dynamics, In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Charlottesville, VA, October 13-16, 1991, pp. 1029-1034.
[15] SLOTINE, J.J.E. DI BENEDETTO, M.D. (1990). Hamiltonian adaptive control of spacecraft, IEEE Trans. Automatic Control, 35, 848-852 doi:10.1109/9.57028
[16] SLOTINE, J.J.E. LI, W. (1987). Adaptive manipulator control: A case study, In Proceedings of the 1987 IEEE Conf. on Robotics and Automation. Raleigh, North Carolina, pp. 1392-1400.
BibTeX:
@article{MIC-1994-2-2,
title={{Cascaded adaptive control of ocean vehicles with significant actuator dynamics}},
author={Fossen, Thor I. and Fjellstad, Ola-Erik},
journal={Modeling, Identification and Control},
volume={15},
number={2},
pages={81--91},
year={1994},
doi={10.4173/mic.1994.2.2},
publisher={Norwegian Society of Automatic Control}
};