Global Asymptotic Tracking for Marine Vehicles Using Adaptive Hybrid Feedback

• 成果类型: Article
• 署名作者: Basso, Erlend A. A.; Schmidt-Didlaukies, Henrik M. M.; Pettersen, Kristin Y. Y.; Sorensen, Asgeir J. J.
• 署名单位: Norwegian University of Science & Technology (NTNU)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3161372
• 发表日期: 2023
• 页码: 1584-1599
• 关键词: Switches; Underwater vehicles; MANIFOLDS; Vehicle dynamics; control systems; asymptotic stability; uncertainty; Adaptive control; hybrid systems; marine vehicles; Nonlinear systems

摘要

This article presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed from a parameterized loop and a speed assignment specifying the motion along the path, which decouples the geometry of the path from the motion along the path. During flows, the hybrid feedback consists of a proportional-derivative action and an adaptive feedforward term, while a hysteretic switching mechanism that is independent of the vehicle velocities determines jumps. The effectiveness of the proposed control law is demonstrated through experiments.