An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping
(2003) 4. p.3262-3267- Abstract
- In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive control scheme. The resulting closed-loop system is globally asymptotically stable with respect to the ship positions and velocities, and globally stable with respect to adaptation to unknown parameters. A discrete-time approximation scheme is presented.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/536791
- author
- Calugi, Francesco ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2003
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- asymptotic stability, closed loop system, dynamical ship position control, globally asymptotically stable, vectorial observer backstepping, observer based adaptive control, adaptive observer
- host publication
- Proceedings. 42nd IEEE Conference on Decision and Control, 2003.
- volume
- 4
- pages
- 3262 - 3267
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- wos:000189434100560
- scopus:1542379754
- ISSN
- 0191-2216
- ISBN
- 0-7803-7924-1
- DOI
- 10.1109/CDC.2003.1271646
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- fc195f46-5872-4333-9760-d7810c8c022c (old id 536791)
- date added to LUP
- 2016-04-01 16:57:51
- date last changed
- 2023-01-05 03:58:04
@inproceedings{fc195f46-5872-4333-9760-d7810c8c022c, abstract = {{In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive control scheme. The resulting closed-loop system is globally asymptotically stable with respect to the ship positions and velocities, and globally stable with respect to adaptation to unknown parameters. A discrete-time approximation scheme is presented.}}, author = {{Calugi, Francesco and Robertsson, Anders and Johansson, Rolf}}, booktitle = {{Proceedings. 42nd IEEE Conference on Decision and Control, 2003.}}, isbn = {{0-7803-7924-1}}, issn = {{0191-2216}}, keywords = {{asymptotic stability; closed loop system; dynamical ship position control; globally asymptotically stable; vectorial observer backstepping; observer based adaptive control; adaptive observer}}, language = {{eng}}, pages = {{3262--3267}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping}}, url = {{https://lup.lub.lu.se/search/files/4831513/625645.pdf}}, doi = {{10.1109/CDC.2003.1271646}}, volume = {{4}}, year = {{2003}}, }