To deal with the system uncertainty in the path following problems with slow varying disturbances, a simple but effective L1 adaptive control strategy is introduced. This control law shows a fast adaptation rate and robust control performance, which can ensure the uniformly bounded transient and asymptotic tracking performances. An adaptive parameter is introduced to capture the uncertainty induced by disturbances. The L1 adaptive control law is then used to identify the time-varying parameter. An inner-outer loop control structure is used to analyze the system. The simulation result shows the effectiveness of this strategy.
L1 adaptive control used in ship control system when encountering slow varying disturbances
- Share Icon Share
- Search Site
Ren, Ruyi, and Zaojian Zou. "L1 adaptive control used in ship control system when encountering slow varying disturbances." Paper presented at the The Twenty-fifth International Ocean and Polar Engineering Conference, Kona, Hawaii, USA, June 2015.
Download citation file: