Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels
Journal article, Peer reviewed
MetadataShow full item record
Original versionIFAC-PapersOnLine. 2015, 48 (16), 291-298. 10.1016/j.ifacol.2015.10.295
This paper deals with the design and evaluation of four controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a marine surface vessel. The goal is to make a comparative analysis of the controllers in order to find out which one has the best performance. The considered controllers are: Adaptive backstepping, adaptive backstepping with command governor, L1 adaptive backstepping and L1 adaptive backstepping with command governor. Numerical simulations are performed for target tracking along both straight-line and circular paths, with uncertain model parameters and an unknown disturbance. Motion control performance is evaluated by performance metrics such as IAE, ISE, ITAE and a novel metric named IAEW which combines control accuracy and energy use in one single metric.