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Robust adaptive ship autopilot with wave filter and integral action
Author(s) -
Lauvdal Trygve,
Fossen Thor I.
Publication year - 1998
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/(sici)1099-1115(199812)12:8<605::aid-acs516>3.0.co;2-1
Subject(s) - autopilot , control theory (sociology) , rudder , transfer function , band stop filter , filter (signal processing) , controller (irrigation) , observer (physics) , convergence (economics) , computer science , engineering , control engineering , low pass filter , physics , aerospace engineering , agronomy , control (management) , electrical engineering , quantum mechanics , artificial intelligence , economic growth , economics , computer vision , biology
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.