Robust Control of a Surface Vessel with Adaptive Rejection of Disturbances with Unknown Parameters

TL;DR

This paper presents an adaptive control method for surface vessels that effectively rejects sinusoidal disturbances with unknown parameters, ensuring stable station-keeping with proven boundedness and convergence.

Contribution

It introduces a geometric control approach combined with an adaptive internal model and extended observer for disturbance rejection with unknown parameters.

Findings

Proven boundedness of system trajectories

Semiglobal convergence to small set

Validated effectiveness through simulations

Abstract

This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive internal model and the extended observer. The paper analytically proves the boundedness of the trajectories of the system and their semiglobal convergence to an arbitrarily small set. The performance of the algorithm is illustrated by computer simulation.