Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory (Q1764048)

The authors present an adaptive version of the maneuvering methodology for a parametrically uncertain ship model. As a rule the general maneuvering problem is divided into a geometrical task and a dynamical task. The geometrical task is referred to as path following, i.e., to reach the path and when reached to stay on it. The dynamical task specifies speed or acceleration assignment along the path. This is in contrast with the common tracking problem when geometrical and dynamical problems are fused to a single problem. Here, the geometrical task and dynamical task, which are specified as a speed assignment, are reduced to seeking for the existence of an attractive manifold in the state space to which the solution had to converge. This problem is solved by a direct Lyapunov method. The constructive design procedure and analysis are performed for a ship model scaled to its real-life original counterpart. The authors consider two different controller implementations; the adaptive maneuvering control design and the gradient update law. The procedure was experimentally tested for the mentioned real model ship in a marine control laboratory.