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Nonlinear Adaptive Tracking Of Surface Vessels With Exogenous Disturbances
Author(s) -
Fu Simon HsuSheng,
Haddad Wassim M.
Publication year - 2003
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2003.tb00100.x
Subject(s) - control theory (sociology) , nonlinear system , tracking (education) , position (finance) , unmanned surface vehicle , controller (irrigation) , disturbance (geology) , surface (topology) , control engineering , inverse , computer science , engineering , mathematics , control (management) , artificial intelligence , physics , marine engineering , geology , psychology , paleontology , pedagogy , agronomy , geometry , finance , quantum mechanics , economics , biology
Significant interaction disturbances in surface vessel maneuvering and position tracking often require high precision controllers. In this paper we develop a coupled nonlinear two‐vessel tracking model for addressing the problem of underway replenishment. Next, using this model we develop an inverse optimal adaptive controller that guarantees disturbance rejection to exogenous disturbances while maintaining a desired separation between the two vessels.