DOI 10.17586/0021-3454-2021-64-12-993-1002
UDC 681.5
ROBUST CONTROL OF A SURFACE VESSEL WITH ADAPTIVE COMPENSATION OF PARAMETRICALLY UNCERTAIN SINUSOIDAL DISTURBANCES
ITMO University, Faculty of Control Systems and Robotics;
A. Y. Zhivitckii
ITMO University, Faculty of Control Systems and Robotics;
O. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate,engineer
A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Full Professor, Dean
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Abstract. The problem of station-keeping a surface vessel under the action of sinusoidal disturbances with unknown parameters is solved. The proposed control algorithm is based on the geometric approach with the use of the adaptive internal model and the extended observer. The boundedness of the trajectories of the system and their semiglobal convergence to an arbitrarily small set are analytically proven. The performance of the algorithm is illustrated by computer simulation.
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