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An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping

Calugi, Francesco; Robertsson, Anders LU and Johansson, Rolf LU (2003) In Proceedings. 42nd IEEE Conference on Decision and Control, 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.
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author
organization
publishing date
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
in
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
language
English
LU publication?
yes
id
fc195f46-5872-4333-9760-d7810c8c022c (old id 536791)
date added to LUP
2007-09-13 13:17:06
date last changed
2018-05-29 11:15:41
@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},
  keyword      = {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          = {http://dx.doi.org/},
  volume       = {4},
  year         = {2003},
}