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dc.contributor.authorTheisen, Lukas Roy Svane
dc.contributor.authorGaleazzi, Roberto
dc.contributor.authorBlanke, Mogens
dc.date.accessioned2017-11-30T09:33:10Z
dc.date.available2017-11-30T09:33:10Z
dc.date.created2013-12-28T22:05:52Z
dc.date.issued2013
dc.identifier.citationElsevier IFAC Publications / IFAC Proceedings series. 2013, 9 (1), 150-155.nb_NO
dc.identifier.issn1474-6670
dc.identifier.urihttp://hdl.handle.net/11250/2468600
dc.description.abstractThis paper treats L1 adaptive hovering control of an unmanned surface vehicle in a station-keeping mode where a region of zero control authority and under-actuation are main challenges. Low-speed and reversing dynamics are identified from full scale sea trials, and parameter uncertainty is estimated. With significant parameter variation, an L1 adaptive controller is employed for heading control. The L1 family of controllers allows for several topologies and an architecture is suggested that suits heading control of a vessel, the requirements of which differ from that of previous L1 literature. The control design is tackled directly in discrete time to allow a fast embedded implementation in the vehicle. Analysis of robustness, tracking performance and wave disturbance response are detailed in the paper.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleUnmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regionsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber150-155nb_NO
dc.source.volume9nb_NO
dc.source.journalElsevier IFAC Publications / IFAC Proceedings seriesnb_NO
dc.source.issue1nb_NO
dc.identifier.doi10.3182/20130918-4-JP-3022.00048
dc.identifier.cristin1081297
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2016. This is the authors’ accepted and refereed manuscript to the article. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.fulltextpostprint
cristin.qualitycode0


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal