Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty

Jawhar Ghommam, Faiçal Mnif

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)

Abstract

This chapter considers the problem of path-following control of autonomous surface vessels in the presence of ocean currents and parametric model uncertainty. The problem at hand consists of steering a vehicle surface ship along a geometric path with a desired speed profile. The Lyapunov technique is used to derive a robust architecture. To ensure path-following of the surface vessel, robust controller is designed based on adaptive sliding mode control in combination with the radial basis function neural network (RBFNN) to suppress the effect of parameter variations and external disturbances. Closed-loop tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control algorithm attains a satisfied performance and is robust against parameter variations and external disturbances.

Original languageEnglish
Title of host publicationStudies in Systems, Decision and Control
PublisherSpringer International Publishing
Pages119-134
Number of pages16
Volume79
DOIs
Publication statusPublished - 2017

Publication series

NameStudies in Systems, Decision and Control
Volume79
ISSN (Print)2198-4182
ISSN (Electronic)2198-4190

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Keywords

  • Backstepping design
  • Distributed sliding motion control
  • Path following
  • Radial basis function neural network (RBFNN)
  • Surface vessels

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Decision Sciences (miscellaneous)
  • Economics, Econometrics and Finance (miscellaneous)
  • Automotive Engineering
  • Control and Systems Engineering
  • Control and Optimization
  • Social Sciences (miscellaneous)

Cite this

Ghommam, J., & Mnif, F. (2017). Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty. In Studies in Systems, Decision and Control (Vol. 79, pp. 119-134). (Studies in Systems, Decision and Control; Vol. 79). Springer International Publishing. https://doi.org/10.1007/978-981-10-2374-3_7